67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
26.6s
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 | 72.3s | 3 errors · 236 warnings · 99 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559718 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559718 ms (missed cycles : 2).[0m ×2 + 0.27sINFOros2_control_nodeMuJoCo sim: 2.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541319 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541319 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686157 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686157 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550879 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550879 ms (missed cycles : 5).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGot request to cancel goal + 3.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.75sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787171660.27637482 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-0.75, 3.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 4.03) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 3.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799774 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799774 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787171660.82815671 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509813 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509813 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344334 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344334 ms (missed cycles : 6).[0m ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.45sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.45sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.45sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.45sINFOros2_control_nodeAccepted new action goal[0m ×8 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800490 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800490 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937864 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937864 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707814 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707814 ms (missed cycles : 2).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621762 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621762 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733220 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733220 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395006 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395006 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821755 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821755 ms (missed cycles : 3).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954274 ms (missed cycles : 4). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954274 ms (missed cycles : 4).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789423 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789423 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410901 ms (missed cycles : 5). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410901 ms (missed cycles : 5).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793882 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793882 ms (missed cycles : 3).[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079842 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079842 ms (missed cycles : 3).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504223 ms (missed cycles : 6). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504223 ms (missed cycles : 6).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270212 ms (missed cycles : 3). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270212 ms (missed cycles : 3).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542809 ms (missed cycles : 4). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542809 ms (missed cycles : 4).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285628 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285628 ms (missed cycles : 2).[0m ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692457 ms (missed cycles : 3). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692457 ms (missed cycles : 3).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720046 ms (missed cycles : 4). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720046 ms (missed cycles : 4).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521546 ms (missed cycles : 5). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521546 ms (missed cycles : 5).[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877407 ms (missed cycles : 2). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877407 ms (missed cycles : 2).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560299 ms (missed cycles : 2). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560299 ms (missed cycles : 2).[0m ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388016 ms (missed cycles : 3). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388016 ms (missed cycles : 3).[0m ×2 + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820332 ms (missed cycles : 2). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820332 ms (missed cycles : 2).[0m ×2 + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769283 ms (missed cycles : 5). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769283 ms (missed cycles : 5).[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125961 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125961 ms (missed cycles : 2).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104267 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104267 ms (missed cycles : 3).[0m ×2 + 33.72sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.72sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.14sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143036 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143036 ms (missed cycles : 2).[0m ×2 + 34.98sINFOobjective_server_nodePlanning for 37 path waypoints. ×6 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839265 ms (missed cycles : 2). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839265 ms (missed cycles : 2).[0m ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740401 ms (missed cycles : 2). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740401 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364453 ms (missed cycles : 2). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364453 ms (missed cycles : 2).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007347 ms (missed cycles : 3). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007347 ms (missed cycles : 3).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770350 ms (missed cycles : 3). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770350 ms (missed cycles : 3).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945090 ms (missed cycles : 3). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945090 ms (missed cycles : 3).[0m ×2 + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662642 ms (missed cycles : 3). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662642 ms (missed cycles : 3).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672186 ms (missed cycles : 3). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672186 ms (missed cycles : 3).[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368989 ms (missed cycles : 4). + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368989 ms (missed cycles : 4).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135434 ms (missed cycles : 2). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135434 ms (missed cycles : 2).[0m ×2 + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637348 ms (missed cycles : 3). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637348 ms (missed cycles : 3).[0m ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801309 ms (missed cycles : 2). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801309 ms (missed cycles : 2).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834283 ms (missed cycles : 2). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834283 ms (missed cycles : 2).[0m ×2 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.185390 ms (missed cycles : 6). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.185390 ms (missed cycles : 6).[0m ×2 + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137752 ms (missed cycles : 6). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137752 ms (missed cycles : 6).[0m ×2 + 51.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642641 ms (missed cycles : 4). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642641 ms (missed cycles : 4).[0m ×2 + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143517 ms (missed cycles : 2). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143517 ms (missed cycles : 2).[0m ×2 + 53.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682980 ms (missed cycles : 6). + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.682980 ms (missed cycles : 6).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767148 ms (missed cycles : 3). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767148 ms (missed cycles : 3).[0m ×2 + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287835 ms (missed cycles : 3). + 55.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287835 ms (missed cycles : 3).[0m ×2 + 56.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635161 ms (missed cycles : 3). + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635161 ms (missed cycles : 3).[0m ×2 + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921694 ms (missed cycles : 4). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921694 ms (missed cycles : 4).[0m ×2 + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982842 ms (missed cycles : 3). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982842 ms (missed cycles : 3).[0m ×2 + 59.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831703 ms (missed cycles : 3). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831703 ms (missed cycles : 3).[0m ×2 + 60.28sINFOros2_control_nodeMuJoCo sim: 2.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 60.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351387 ms (missed cycles : 2). + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351387 ms (missed cycles : 2).[0m ×2 + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149709 ms (missed cycles : 2). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149709 ms (missed cycles : 2).[0m ×2 + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611487 ms (missed cycles : 5). + 62.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.611487 ms (missed cycles : 5).[0m ×2 + 63.63sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 63.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400283 ms (missed cycles : 3). + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400283 ms (missed cycles : 3).[0m ×2 + 64.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805526 ms (missed cycles : 3). + 64.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805526 ms (missed cycles : 3).[0m ×2 + 65.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066271 ms (missed cycles : 2). + 65.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.066271 ms (missed cycles : 2).[0m ×2 + 67.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091098 ms (missed cycles : 2). + 67.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091098 ms (missed cycles : 2).[0m ×2 + 68.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878882 ms (missed cycles : 6). + 68.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878882 ms (missed cycles : 6).[0m ×2 + 69.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182099 ms (missed cycles : 3). + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182099 ms (missed cycles : 3).[0m ×2 + 70.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927845 ms (missed cycles : 5). + 70.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927845 ms (missed cycles : 5).[0m ×2 + 71.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152924 ms (missed cycles : 2). + 71.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152924 ms (missed cycles : 2).[0m ×2 + 72.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 72.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 73.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 74.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 74.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 75.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 75.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 76.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 76.08sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.08sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 76.18sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.18sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 76.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 76.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 77.11sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 77.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 77.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 78.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 78.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 57.7s | 189 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787171591.56256700 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.86) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787171592.13014555 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883136 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883136 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525361 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525361 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217083 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217083 ms (missed cycles : 2).[0m ×2 + 8.64sINFOros2_control_nodeMuJoCo sim: 2.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358645 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358645 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011771 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011771 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725184 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725184 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243984 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243984 ms (missed cycles : 5).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584122 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584122 ms (missed cycles : 3).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830453 ms (missed cycles : 3). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830453 ms (missed cycles : 3).[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923541 ms (missed cycles : 5). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923541 ms (missed cycles : 5).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451956 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451956 ms (missed cycles : 2).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714870 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714870 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252560 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252560 ms (missed cycles : 2).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473141 ms (missed cycles : 3). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473141 ms (missed cycles : 3).[0m ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121136 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121136 ms (missed cycles : 3).[0m ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112861 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112861 ms (missed cycles : 2).[0m ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401556 ms (missed cycles : 6). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401556 ms (missed cycles : 6).[0m ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125251 ms (missed cycles : 6). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.125251 ms (missed cycles : 6).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655982 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655982 ms (missed cycles : 3).[0m ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793154 ms (missed cycles : 4). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793154 ms (missed cycles : 4).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.442639 ms (missed cycles : 6). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.442639 ms (missed cycles : 6).[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308669 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308669 ms (missed cycles : 3).[0m ×2 + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825074 ms (missed cycles : 3). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825074 ms (missed cycles : 3).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696660 ms (missed cycles : 4). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696660 ms (missed cycles : 4).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637708 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637708 ms (missed cycles : 3).[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558503 ms (missed cycles : 3). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558503 ms (missed cycles : 3).[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336808 ms (missed cycles : 6). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.336808 ms (missed cycles : 6).[0m ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872003 ms (missed cycles : 3). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872003 ms (missed cycles : 3).[0m ×2 + 34.99sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.69sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478110 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478110 ms (missed cycles : 3).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709066 ms (missed cycles : 2). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709066 ms (missed cycles : 2).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393912 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393912 ms (missed cycles : 3).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796794 ms (missed cycles : 4). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796794 ms (missed cycles : 4).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678954 ms (missed cycles : 3). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678954 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864275 ms (missed cycles : 3). + 40.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864275 ms (missed cycles : 3).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487572 ms (missed cycles : 3). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487572 ms (missed cycles : 3).[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810985 ms (missed cycles : 3). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810985 ms (missed cycles : 3).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.882306 ms (missed cycles : 7). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.882306 ms (missed cycles : 7).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816685 ms (missed cycles : 2). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816685 ms (missed cycles : 2).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121447 ms (missed cycles : 2). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121447 ms (missed cycles : 2).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738378 ms (missed cycles : 2). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738378 ms (missed cycles : 2).[0m ×2 + 47.62sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787171635.449 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744695 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744695 ms (missed cycles : 3).[0m ×2 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356863 ms (missed cycles : 2). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356863 ms (missed cycles : 2).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858182 ms (missed cycles : 4). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.858182 ms (missed cycles : 4).[0m ×2 + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916922 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916922 ms (missed cycles : 2).[0m ×2 + 52.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850998 ms (missed cycles : 3). + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850998 ms (missed cycles : 3).[0m ×2 + 53.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563279 ms (missed cycles : 5). + 53.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563279 ms (missed cycles : 5).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437103 ms (missed cycles : 3). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437103 ms (missed cycles : 3).[0m ×2 + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174872 ms (missed cycles : 2). + 55.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174872 ms (missed cycles : 2).[0m ×2 + 57.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100597 ms (missed cycles : 2). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100597 ms (missed cycles : 2).[0m ×2 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020544 ms (missed cycles : 2). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020544 ms (missed cycles : 2).[0m ×2 + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129003 ms (missed cycles : 2). + 59.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129003 ms (missed cycles : 2).[0m ×2 + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166591 ms (missed cycles : 3). + 60.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166591 ms (missed cycles : 3).[0m ×2 + 61.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399546 ms (missed cycles : 3). + 61.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399546 ms (missed cycles : 3).[0m ×2 + 61.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787171649.23031354 seconds ×3 + 61.15sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.66) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.15sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.64sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787171649.78652120 seconds. ×3 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393266 ms (missed cycles : 2). + 62.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393266 ms (missed cycles : 2).[0m ×2 + 62.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 63.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538877 ms (missed cycles : 4). + 63.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538877 ms (missed cycles : 4).[0m ×2 + 63.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 188 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 0.16sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.16sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-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 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787171497.18249989 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787171497.73569489 seconds. ×3 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.466262 ms (missed cycles : 8). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.466262 ms (missed cycles : 8).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.812403 ms (missed cycles : 7). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.812403 ms (missed cycles : 7).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394441 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394441 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897885 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897885 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294737 ms (missed cycles : 4). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294737 ms (missed cycles : 4).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191304 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191304 ms (missed cycles : 4).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831409 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831409 ms (missed cycles : 3).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233113 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233113 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420435 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420435 ms (missed cycles : 4).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568306 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568306 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685480 ms (missed cycles : 4). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685480 ms (missed cycles : 4).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829727 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829727 ms (missed cycles : 2).[0m ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.728465 ms (missed cycles : 7). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.728465 ms (missed cycles : 7).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876292 ms (missed cycles : 3). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876292 ms (missed cycles : 3).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911089 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911089 ms (missed cycles : 2).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441834 ms (missed cycles : 3). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441834 ms (missed cycles : 3).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.976758 ms (missed cycles : 6). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.976758 ms (missed cycles : 6).[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513635 ms (missed cycles : 4). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513635 ms (missed cycles : 4).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618788 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618788 ms (missed cycles : 3).[0m ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509809 ms (missed cycles : 5). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509809 ms (missed cycles : 5).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671701 ms (missed cycles : 2). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671701 ms (missed cycles : 2).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791137 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791137 ms (missed cycles : 3).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.206412 ms (missed cycles : 6). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.206412 ms (missed cycles : 6).[0m ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209888 ms (missed cycles : 6). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.209888 ms (missed cycles : 6).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423813 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423813 ms (missed cycles : 3).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386063 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386063 ms (missed cycles : 2).[0m ×2 + 34.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148303 ms (missed cycles : 4). + 34.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148303 ms (missed cycles : 4).[0m ×2 + 35.75sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206802 ms (missed cycles : 2). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206802 ms (missed cycles : 2).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742564 ms (missed cycles : 3). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742564 ms (missed cycles : 3).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049869 ms (missed cycles : 3). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049869 ms (missed cycles : 3).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765324 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765324 ms (missed cycles : 2).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357638 ms (missed cycles : 3). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357638 ms (missed cycles : 3).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164278 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164278 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770651 ms (missed cycles : 4). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770651 ms (missed cycles : 4).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337064 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337064 ms (missed cycles : 2).[0m ×2 + 43.57sINFOros2_control_nodeMuJoCo sim: 2.01% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111706 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111706 ms (missed cycles : 2).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214798 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214798 ms (missed cycles : 2).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193515 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193515 ms (missed cycles : 3).[0m ×2 + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892280 ms (missed cycles : 2). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892280 ms (missed cycles : 2).[0m ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688918 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688918 ms (missed cycles : 3).[0m ×2 + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052427 ms (missed cycles : 3). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052427 ms (missed cycles : 3).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008735 ms (missed cycles : 4). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008735 ms (missed cycles : 4).[0m ×2 + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653190 ms (missed cycles : 4). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653190 ms (missed cycles : 4).[0m ×2 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265955 ms (missed cycles : 3). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265955 ms (missed cycles : 3).[0m ×2 + 53.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127016 ms (missed cycles : 3). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127016 ms (missed cycles : 3).[0m ×2 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062922 ms (missed cycles : 4). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062922 ms (missed cycles : 4).[0m ×2 + 55.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127110 ms (missed cycles : 2). + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127110 ms (missed cycles : 2).[0m ×2 + 56.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434478 ms (missed cycles : 3). + 56.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434478 ms (missed cycles : 3).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 61.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 61.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 61.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 61.90sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 62.35sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 62.37sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 63.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.8s | 186 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.72sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031110 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031110 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264854 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264854 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221007 ms (missed cycles : 6). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221007 ms (missed cycles : 6).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609191 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609191 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.870187 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062256 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062256 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365823 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365823 ms (missed cycles : 3).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273982 ms (missed cycles : 6). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273982 ms (missed cycles : 6).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657746 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657746 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069270 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069270 ms (missed cycles : 3).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.447228 ms (missed cycles : 6). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.447228 ms (missed cycles : 6).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599436 ms (missed cycles : 4). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599436 ms (missed cycles : 4).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081295 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081295 ms (missed cycles : 2).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315698 ms (missed cycles : 4). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315698 ms (missed cycles : 4).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679794 ms (missed cycles : 5). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679794 ms (missed cycles : 5).[0m ×2 + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107377 ms (missed cycles : 3). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107377 ms (missed cycles : 3).[0m ×2 + 24.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542717 ms (missed cycles : 3). + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542717 ms (missed cycles : 3).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936943 ms (missed cycles : 2). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936943 ms (missed cycles : 2).[0m ×2 + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835306 ms (missed cycles : 4). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835306 ms (missed cycles : 4).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214339 ms (missed cycles : 4). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214339 ms (missed cycles : 4).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586384 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586384 ms (missed cycles : 3).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229777 ms (missed cycles : 6). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.229777 ms (missed cycles : 6).[0m ×2 + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497810 ms (missed cycles : 3). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497810 ms (missed cycles : 3).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891398 ms (missed cycles : 3). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891398 ms (missed cycles : 3).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851659 ms (missed cycles : 2). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851659 ms (missed cycles : 2).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671191 ms (missed cycles : 3). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671191 ms (missed cycles : 3).[0m ×2 + 33.98sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210849 ms (missed cycles : 2). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210849 ms (missed cycles : 2).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120492 ms (missed cycles : 4). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120492 ms (missed cycles : 4).[0m ×2 + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022350 ms (missed cycles : 2). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022350 ms (missed cycles : 2).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223147 ms (missed cycles : 2). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223147 ms (missed cycles : 2).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262446 ms (missed cycles : 2). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262446 ms (missed cycles : 2).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108118 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108118 ms (missed cycles : 3).[0m ×2 + 41.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797377 ms (missed cycles : 2). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797377 ms (missed cycles : 2).[0m ×2 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971241 ms (missed cycles : 3). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971241 ms (missed cycles : 3).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875322 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875322 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387245 ms (missed cycles : 3). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387245 ms (missed cycles : 3).[0m ×2 + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961881 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961881 ms (missed cycles : 2).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106827 ms (missed cycles : 2). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106827 ms (missed cycles : 2).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149754 ms (missed cycles : 3). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149754 ms (missed cycles : 3).[0m ×2 + 48.07sINFOros2_control_nodeMuJoCo sim: 2.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332166 ms (missed cycles : 3). + 48.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332166 ms (missed cycles : 3).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380523 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380523 ms (missed cycles : 2).[0m ×2 + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855965 ms (missed cycles : 3). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855965 ms (missed cycles : 3).[0m ×2 + 51.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171083 ms (missed cycles : 5). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171083 ms (missed cycles : 5).[0m ×2 + 52.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183076 ms (missed cycles : 3). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183076 ms (missed cycles : 3).[0m ×2 + 53.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788979 ms (missed cycles : 3). + 53.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788979 ms (missed cycles : 3).[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090867 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090867 ms (missed cycles : 2).[0m ×2 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301984 ms (missed cycles : 4). + 55.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301984 ms (missed cycles : 4).[0m ×2 + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415393 ms (missed cycles : 3). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415393 ms (missed cycles : 3).[0m ×2 + 57.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649360 ms (missed cycles : 3). + 57.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649360 ms (missed cycles : 3).[0m ×2 + 58.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976514 ms (missed cycles : 5). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976514 ms (missed cycles : 5).[0m ×2 + 59.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787171788.38568878 seconds ×3 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 59.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037745 ms (missed cycles : 4). + 59.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037745 ms (missed cycles : 4).[0m ×2 + 60.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787171788.94765067 seconds. ×3 + 60.62sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 60.65sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393526 ms (missed cycles : 6). + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393526 ms (missed cycles : 6).[0m ×2 + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687344 ms (missed cycles : 6). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687344 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 146 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439136 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439136 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641177 ms (missed cycles : 5). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641177 ms (missed cycles : 5).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941815 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941815 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326988 ms (missed cycles : 4). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326988 ms (missed cycles : 4).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340563 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340563 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937690 ms (missed cycles : 6). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937690 ms (missed cycles : 6).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828881 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828881 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086843 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086843 ms (missed cycles : 3).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808377 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808377 ms (missed cycles : 4).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121245 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121245 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815986 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815986 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909490 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909490 ms (missed cycles : 3).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008301 ms (missed cycles : 3). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008301 ms (missed cycles : 3).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282629 ms (missed cycles : 4). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282629 ms (missed cycles : 4).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189459 ms (missed cycles : 3). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189459 ms (missed cycles : 3).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048276 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048276 ms (missed cycles : 3).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931074 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931074 ms (missed cycles : 3).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200268 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200268 ms (missed cycles : 2).[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691936 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691936 ms (missed cycles : 2).[0m ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708210 ms (missed cycles : 2). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708210 ms (missed cycles : 2).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685643 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685643 ms (missed cycles : 2).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140006 ms (missed cycles : 5). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140006 ms (missed cycles : 5).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757063 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757063 ms (missed cycles : 2).[0m ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936876 ms (missed cycles : 5). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936876 ms (missed cycles : 5).[0m ×2 + 30.86sINFOros2_control_nodeMuJoCo sim: 1.61% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.063538 ms (missed cycles : 6). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.063538 ms (missed cycles : 6).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834217 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834217 ms (missed cycles : 2).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376751 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376751 ms (missed cycles : 2).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512793 ms (missed cycles : 5). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512793 ms (missed cycles : 5).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923109 ms (missed cycles : 3). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923109 ms (missed cycles : 3).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056778 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.056778 ms (missed cycles : 4).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186516 ms (missed cycles : 2). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186516 ms (missed cycles : 2).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535054 ms (missed cycles : 5). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535054 ms (missed cycles : 5).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343806 ms (missed cycles : 6). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.343806 ms (missed cycles : 6).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929703 ms (missed cycles : 3). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929703 ms (missed cycles : 3).[0m ×2 + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698233 ms (missed cycles : 2). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698233 ms (missed cycles : 2).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.824827 ms (missed cycles : 7). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.824827 ms (missed cycles : 7).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2).[0m ×2 + 45.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4). + 45.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2).[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 47.45sINFOjoint_trajectory_controllerGoal reached, success! + 47.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 48.04sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 48.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 49.13sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-05 s). ×2 + 49.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.3s | 112 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897095 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897095 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787171559.25819588 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670864 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670864 ms (missed cycles : 3).[0m ×2 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526635 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526635 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787171560.81244302 seconds. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882800 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882800 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054682 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054682 ms (missed cycles : 3).[0m ×2 + 7.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556720 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556720 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942508 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942508 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386898 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386898 ms (missed cycles : 3).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516501 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516501 ms (missed cycles : 4).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088339 ms (missed cycles : 6). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.088339 ms (missed cycles : 6).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141571 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141571 ms (missed cycles : 3).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828895 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828895 ms (missed cycles : 2).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569271 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569271 ms (missed cycles : 3).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884155 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884155 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363116 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363116 ms (missed cycles : 3).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039157 ms (missed cycles : 5). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.039157 ms (missed cycles : 5).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052961 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052961 ms (missed cycles : 3).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.064895 ms (missed cycles : 7). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.064895 ms (missed cycles : 7).[0m ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820401 ms (missed cycles : 3). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820401 ms (missed cycles : 3).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521215 ms (missed cycles : 5). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521215 ms (missed cycles : 5).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421455 ms (missed cycles : 2). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421455 ms (missed cycles : 2).[0m ×2 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.364188 ms (missed cycles : 7). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.364188 ms (missed cycles : 7).[0m ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199591 ms (missed cycles : 4). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199591 ms (missed cycles : 4).[0m ×2 + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995853 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995853 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.741199 ms (missed cycles : 6). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.741199 ms (missed cycles : 6).[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784066 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784066 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022858 ms (missed cycles : 4). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022858 ms (missed cycles : 4).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434869 ms (missed cycles : 4). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.434869 ms (missed cycles : 4).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2).[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4).[0m ×2 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2).[0m ×2 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2).[0m ×2 + 35.47sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787171591.56256700 seconds ×3 + 35.50sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 35.50sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.86) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 35.60sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.60sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 36.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787171592.13014555 seconds. ×3 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4).[0m ×2 + 36.46sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6).[0m ×2 + 38.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.5s | 62 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301984 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301984 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415393 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415393 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649360 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649360 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976514 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976514 ms (missed cycles : 5).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.99sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787171788.38568878 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.99) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037745 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037745 ms (missed cycles : 4).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787171788.94765067 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.95sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.00sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393526 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393526 ms (missed cycles : 6).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687344 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.687344 ms (missed cycles : 6).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258095 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258095 ms (missed cycles : 5).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330085 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330085 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801945 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801945 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (9.8e-07 s). ×2 + 9.77sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (9.29e-07 s). ×2 + 10.10sINFOobjective_server_nodeFound path in 98 iterations (0.0586447 s). ×2 + 10.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335825 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335825 ms (missed cycles : 3).[0m ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.05sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275152 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275152 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426289 ms (missed cycles : 6). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.426289 ms (missed cycles : 6).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2).[0m ×2 + 17.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787171801.89830422 seconds ×3 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2).[0m ×2 + 18.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787171802.49513340 seconds. ×3 + 18.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.11sINFOmove_groupClearing octomap...[0m ×2 + 18.11sINFOmove_groupOctomap cleared.[0m ×2 + 18.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787171803.13526750 seconds ×3 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7).[0m ×2 + 19.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787171803.69009900 seconds. ×3 + 19.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787171804.37023234 seconds ×3 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2).[0m ×2 + 20.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 94 errors · 36 warnings · 433 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787171801.89830422 seconds ×3 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787171802.49513340 seconds. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787171803.13526750 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787171803.69009900 seconds. ×3 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787171804.37023234 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2).[0m ×2 + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866839 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866839 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410817 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410817 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593586 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593586 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107719 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107719 ms (missed cycles : 3).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985004 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985004 ms (missed cycles : 5).[0m ×2 + 11.10sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORui_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 + 11.14sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×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 + 11.18sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 11.21sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORstatic_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 + 11.23sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.25sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.27sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.29sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.31sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.34sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.36sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.39sINFOmove_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 + 11.44sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.47sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655946 ms (missed cycles : 5). + 11.49sINFOweb_video_server-32process has finished cleanly [pid 9675] ×2 + 11.50sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.52sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9670] ×2 + 11.53sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.53sINFOcontroller_managerShutdown request received.... + 11.53sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.54sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.54sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.54sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.54sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.54sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.54sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.54sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.54sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.54sINFOcontroller_managerShutting down the controller manager. + 11.56sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.57sERRORmove_group-20process has died [pid 9596, 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_mdnr14lo --params-file /tmp/launch_params_ngg8ev9a --params-file /tmp/launch_params_jz9djf82 --params-file /tmp/launch_params_4i6m8_5d --params-file /tmp/launch_params_9796920k --params-file /tmp/launch_params_26wy5h5s --params-file /tmp/launch_params_e09y9luz --params-file /tmp/launch_params_qo0ft_hm --params-file /tmp/launch_params_k2mizy24']. ×2 + 11.59sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.59sERRORui_teleop_bridge-29process has died [pid 9664, 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_k3jsw3_6']. ×2 + 11.62sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.62sINFOcomponent_container_mt-27process has finished cleanly [pid 9660] ×2 + 11.62sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sERRORobjective_server_node_main-25process has died [pid 9658, 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_eo4tywzh --params-file /tmp/launch_params_881cg45c --params-file /tmp/launch_params_8k_oy7hx --params-file /tmp/launch_params_b1zlyc53 --params-file /tmp/launch_params_3t1vgx8j --params-file /tmp/launch_params_apidmq5v']. ×2 + 11.63sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.64sINFOexecute_objective_bridge-28process has finished cleanly [pid 9661] ×2 + 11.65sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×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 + 11.69sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.69sINFOmap_serverDeactivating + 11.69sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 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 + 11.70sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.70sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.70sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 11.70sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.70sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.70sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 11.70sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 11.70sERRORmap_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sERRORlifecycle_manager_localizationFailed to change state for node: map_server ×2 + 11.70sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 11.70sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sERRORmap_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.70sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 11.70sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.70sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sINFOmap_serverCleaning up + 11.70sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.70sINFOcontroller_serverDeactivating + 11.70sINFOlocal_costmap.local_costmapDeactivating + 11.70sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655946 ms (missed cycles : 5).[0m ×2 + 11.70sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.70sINFOobjective_server_node[2026-08-19 20:36:50.605] [moveit_pro_license] [critical] ×2 + 11.70sINFOobjective_server_node************************************************* ×4 + 11.71sINFOobjective_server_node* MoveIt Pro License ×2 + 11.71sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.71sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.71sERRORmove_groupStack trace (most recent call last) in thread 10186: ×2 + 11.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e0872a63, in __clone ×2 + 11.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e07e5aa3, in ×2 + 11.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe1e0a75db3, in ×2 + 11.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7fe1e10cc1a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1e0dea4d0, in rclcpp::Rate::sleep() ×2 + 11.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1e0d3da88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe1e0d02a71, in ×2 + 11.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe1e0a44390, in __cxa_throw ×2 + 11.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe1e0a2ea54, in std::terminate() ×2 + 11.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe1e0a440d9, in ×2 + 11.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe1e0a2eff4, in ×2 + 11.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e07718fe, in abort ×2 + 11.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e078e27d, in raise ×2 + 11.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe1e07e7b2c, in pthread_kill ×2 + 11.71sERRORmove_groupAborted (Signal sent by tkill() 9596 0) ×2 + 11.71sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.71sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[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 'platform_velocity_controller_nav2'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'velocity_force_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 'joint_velocity_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_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.71sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.71sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.71sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e180d14, in _start ×2 + 11.71sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c4d4b028a, in __libc_start_main ×2 + 11.71sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c4d4b01d0, in ×2 + 11.71sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c4d4cdbbd, in exit ×2 + 11.71sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8c4d4cda75, in ×2 + 11.71sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f8c4d99c8f5, in spdlog::details::registry::~registry() ×2 + 11.71sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e181bf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.71sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e188865, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.71sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e187af9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.71sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e1840cb, in spdlog_ros::RosSink::~RosSink() ×2 + 11.71sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a45e181bf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.71sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e06f454, in rclcpp::Node::~Node() ×2 + 11.71sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e02a515, in ×2 + 11.71sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e06dd20, in ×2 + 11.71sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e06dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.71sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e02a5d9, in ×2 + 11.71sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8c4e02f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.71sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f8c0e43ebb0]) ×2 + 11.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.72sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_qos_relay.pymain() ×2 + 11.72sINFOodom_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 + 11.72sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.72sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.72sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.72sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.72sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.72sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.72sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.72sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.72sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.73sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.73sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.78sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.79sINFOcontroller_serverCleaning up + 11.79sINFOlocal_costmap.local_costmapCleaning up + 11.84sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787171810.648 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.84sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.84sINFOsmoother_serverDeactivating + 11.84sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.85sINFOsmoother_serverCleaning up + 11.86sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.86sINFOplanner_serverDeactivating + 11.86sINFOglobal_costmap.global_costmapDeactivating + 11.88sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.88sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.88sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.88sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.88sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.88sINFOvelocity_smootherDeactivating + 11.88sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.99sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.99sINFOwaypoint_followerDeactivating + 11.99sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.11sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.11sINFObt_navigatorDeactivating + 12.11sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.22sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.22sINFObehavior_serverDeactivating + 12.22sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.33sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.33sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.33sINFOlifecycle_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 + 12.34sERRORcontroller_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: controller_server + 12.34sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.34sINFOvelocity_smootherCleaning up + 12.34sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.34sINFOwaypoint_followerCleaning up + 12.37sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.37sINFObt_navigatorCleaning up + 12.40sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.40sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.41sINFOplanner_serverCleaning up + 12.43sINFOglobal_costmap.global_costmapCleaning up + 12.44sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9657] ×2 + 12.44sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.44sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.46sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9599] ×2 + 12.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.47sINFObehavior_serverCleaning up + 12.48sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.48sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.48sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.48sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.54sINFOparameter_manager_node-21process has finished cleanly [pid 9597] ×2 + 12.55sINFObt_navigatorCompleted Cleaning up + 12.55sINFOcomponent_container_mt-26process has finished cleanly [pid 9659] ×2 + 12.55sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.55sINFOwaypoint_manager_node-22process has finished cleanly [pid 9598] ×2 + 12.60sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.60sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.60sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.60sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.61sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9506] ×2 + 12.63sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9505] ×2 + 12.68sINFOstatic_transform_publisher-4process has finished cleanly [pid 9503] ×2 + 12.69sINFOstatic_transform_publisher-3process has finished cleanly [pid 9502] ×2 + 12.71sINFOstatic_transform_publisher-2process has finished cleanly [pid 9501] ×2 + 12.71sERRORodom_qos_relay.py-5process has died [pid 9504, 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 + 12.88sERRORcomponent_container_isolated-1process has died [pid 9500, 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_3jx9ihrr --params-file /tmp/launch_params_n4vryf76 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.95sINFOweb_bridge-30process has finished cleanly [pid 9665] ×2 + 13.95sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.22sINFOros2_control_node-8process has finished cleanly [pid 9507] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 60 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100597 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100597 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020544 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020544 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129003 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129003 ms (missed cycles : 2).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166591 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166591 ms (missed cycles : 3).[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399546 ms (missed cycles : 3).[0m ×2 + 4.08sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787171649.23031354 seconds ×3 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.66) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.16) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787171649.78652120 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393266 ms (missed cycles : 2). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393266 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538877 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538877 ms (missed cycles : 4).[0m ×2 + 6.76sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.83sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.83sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259849 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259849 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051755 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051755 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511875 ms (missed cycles : 4). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511875 ms (missed cycles : 4).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496917 ms (missed cycles : 5). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496917 ms (missed cycles : 5).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559718 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559718 ms (missed cycles : 2).[0m ×2 + 11.65sINFOros2_control_nodeMuJoCo sim: 2.58% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541319 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541319 ms (missed cycles : 3).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686157 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686157 ms (missed cycles : 3).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550879 ms (missed cycles : 5). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550879 ms (missed cycles : 5).[0m ×2 + 15.13sINFOjoint_trajectory_controllerGot request to cancel goal + 15.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787171660.27637482 seconds ×3 + 15.15sWARNlocal_costmap.local_costmapSensor origin at (-0.75, 3.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.15sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.25sWARNlocal_costmap.local_costmapSensor origin at (-0.76, 4.03) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.25sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 3.97) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799774 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799774 ms (missed cycles : 2).[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787171660.82815671 seconds. ×3 + 16.15sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509813 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509813 ms (missed cycles : 3).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344334 ms (missed cycles : 6). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.344334 ms (missed cycles : 6).[0m ×2 + 17.78sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×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 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 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 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897095 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897095 ms (missed cycles : 2).[0m ×2 + 8.29sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787171559.25819588 seconds ×3 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670864 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670864 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526635 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526635 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787171560.81244302 seconds. ×3 + 10.26sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882800 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882800 ms (missed cycles : 3).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054682 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054682 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOjoint_trajectory_controllerReceived new action goal + 5.04sINFOjoint_trajectory_controllerAccepted new action goal + 5.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5).[0m ×2 + 7.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787171497.18249989 seconds ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2).[0m ×2 + 7.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787171497.73569489 seconds. ×3 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787171801.89830422 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787171802.49513340 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.43sINFOmove_groupClearing octomap...[0m ×2 + 4.43sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787171803.13526750 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787171803.69009900 seconds. ×3 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787171804.37023234 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2).[0m ×2 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866839 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.866839 ms (missed cycles : 4).[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 1.875417 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOjoint_trajectory_controllerReceived new action goal + 5.04sINFOjoint_trajectory_controllerAccepted new action goal + 5.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 23 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 23 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 23 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 23 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 23 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240631 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484957 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.520621 ms (missed cycles : 5).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977374 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787171554.53139853 seconds ×3 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033646 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787171555.10794115 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal + 4.63sINFOjoint_trajectory_controllerAccepted new action goal + 4.63sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727915 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672880 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 22 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787171591.56256700 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.86) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787171592.13014555 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 22 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787171591.56256700 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.86) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787171592.13014555 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_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 | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − 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 1.875417 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875417 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.429791 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695149 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-05 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOjoint_trajectory_controllerReceived new action goal + 5.04sINFOjoint_trajectory_controllerAccepted new action goal + 5.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_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 3.695097 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695097 ms (missed cycles : 3).[0m ×2 + 0.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787171493.39438868 seconds ×3 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787171493.95180631 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454368 ms (missed cycles : 5).[0m ×2 + 1.84sINFOobjective_server_nodeFound path in 0 iterations (3.7197e-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 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850615 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539318 ms (missed cycles : 5).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787171497.18249989 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715731 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787171497.73569489 seconds. ×3 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342274 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784540 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 22 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854929 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574722 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014418 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056474 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787171591.56256700 seconds ×3 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.86) is out of map bounds (-2.60, -2.40) to (2.38, 2.58). The costmap cannot raytrace for it. + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.87) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787171592.13014555 seconds. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389066 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306829 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729045 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373039 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848582 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889111 ms (missed cycles : 4).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787171732.55894637 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 13.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.87sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.27, 13.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-3.05, 13.52) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036713 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787171733.12557220 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319247 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917919 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.319347 ms (missed cycles : 6).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845988 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174926 ms (missed cycles : 2).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! + 3.77sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787171801.89830422 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669027 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787171802.49513340 seconds. ×3 + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.43sINFOmove_groupClearing octomap...[0m ×2 + 4.43sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787171803.13526750 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973807 ms (missed cycles : 7).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787171803.69009900 seconds. ×3 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787171804.37023234 seconds ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938097 ms (missed cycles : 2).[0m ×2 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_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 | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_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 | 58.6s | 10 errors · 173 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/2026-08-19-20-29-49-346053-49fbb58f5278-9450 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.33sINFOstatic_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' + 10.33sINFOstatic_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' + 10.33sINFOstatic_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' + 10.40sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.42sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.43sINFOcontroller_managerupdate rate is 600 Hz + 10.43sINFOcontroller_managerOverruns handling is : enabled + 10.43sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.43sWARNcontroller_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. + 10.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.59sINFOros2_control_node-8process started with pid [9507] ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880408 ms (missed cycles : 2). + 10.61sINFOmove_group-20process started with pid [9596] ×2 + 10.61sINFOparameter_manager_node-21process started with pid [9597] ×2 + 10.61sINFOwaypoint_manager_node-22process started with pid [9598] ×2 + 10.61sINFOmove_joint_resampler_node-23process started with pid [9599] ×2 + 10.61sINFOmove_end_effector_resampler_node-24process started with pid [9657] ×2 + 10.61sINFOobjective_server_node_main-25process started with pid [9658] ×2 + 10.61sINFOcomponent_container_mt-26process started with pid [9659] ×2 + 10.61sINFOcomponent_container_mt-27process started with pid [9660] ×2 + 10.61sINFOexecute_objective_bridge-28process started with pid [9661] ×2 + 10.61sINFOui_teleop_bridge-29process started with pid [9664] ×2 + 10.61sINFOweb_bridge-30process started with pid [9665] ×2 + 10.61sINFOtf2_web_republisher_node-31process started with pid [9670] ×2 + 10.61sINFOweb_video_server-32process started with pid [9675] ×2 + 10.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.62sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.63sINFOcomponent_container_isolated-1process started with pid [9500] ×2 + 10.63sINFOstatic_transform_publisher-2process started with pid [9501] ×2 + 10.63sINFOstatic_transform_publisher-3process started with pid [9502] ×2 + 10.63sINFOstatic_transform_publisher-4process started with pid [9503] ×2 + 10.63sINFOodom_qos_relay.py-5process started with pid [9504] ×2 + 10.63sINFOscan_to_scan_filter_chain-6process started with pid [9505] ×2 + 10.63sINFOscan_to_scan_filter_chain-7process started with pid [9506] ×2 + 10.63sINFOros2-9process started with pid [9585] ×2 + 10.63sINFOros2-10process started with pid [9586] ×2 + 10.64sINFOros2-11process started with pid [9587] ×2 + 10.64sINFOros2-12process started with pid [9588] ×2 + 10.64sINFOros2-13process started with pid [9589] ×2 + 10.64sINFOros2-14process started with pid [9590] ×2 + 10.64sINFOros2-15process started with pid [9591] ×2 + 10.64sINFOros2-16process started with pid [9592] ×2 + 10.64sINFOros2-17process started with pid [9593] ×2 + 10.64sINFOros2-18process started with pid [9594] ×2 + 10.65sINFOros2-19process started with pid [9595] ×2 + 10.67sINFOmap_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. + 10.67sINFOmap_serverCreating + 10.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 10.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 10.72sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 10.72sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 10.72sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 10.72sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 10.72sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 10.72sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 10.72sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 10.72sWARNros2_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 + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880408 ms (missed cycles : 2).[0m ×2 + 10.73sINFOcontroller_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. + 10.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 10.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 10.80sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 10.80sINFOcontroller_serverCreating controller server + 10.80sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 10.80sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 10.81sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 10.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.82sINFOlocal_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. + 10.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.85sINFOlocal_costmap.local_costmapCreating Costmap + 10.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 10.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.92sINFOlifecycle_manager_localizationCreating + 10.95sINFOcontroller_managerReceived robot description from topic. + 10.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 10.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 10.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 10.96sINFOrobot_state_publisherRobot initialized + 10.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 10.96sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 10.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 10.96sINFOcomponent_container_mtRobot initialized[0m ×2 + 10.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 10.98sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 10.98sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 10.98sINFOmap_serverConfiguring + 10.99sINFOsmoother_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. + 11.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.02sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOsmoother_serverCreating smoother server + 11.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.06sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.06sINFOmap_serverActivating + 11.07sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.08sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 11.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.10sINFOplanner_serverCreating + 11.14sINFOglobal_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. + 11.15sINFOglobal_costmap.global_costmapCreating Costmap + 11.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.15sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.18sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.18sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.18sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.19sINFObehavior_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. + 11.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.24sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.24sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.25sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.25sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.25sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.25sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.25sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.25sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.28sINFObt_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. + 11.30sINFObt_navigatorCreating + 11.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.30sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.34sWARNlaser_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. + 11.34sWARNscan_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 + 11.34sWARNlaser_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. + 11.34sINFOwaypoint_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. + 11.34sINFOwaypoint_followerCreating + 11.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.41sINFOvelocity_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. + 11.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.44sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.45sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.45sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.47sINFOlifecycle_manager_navigationCreating + 11.47sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.46852 seconds + 11.47sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.47sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.47sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.49sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.49sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.49sINFOcontroller_serverConfiguring controller interface + 11.49sINFOcontroller_servergetting progress checker plugins.. + 11.49sINFOcontroller_servergetting goal checker plugins.. + 11.49sINFOcontroller_serverController frequency set to 20.0000Hz + 11.49sINFOlocal_costmap.local_costmapConfiguring + 11.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.52sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.55sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.55sINFOmove_groupLoaded robot model in 0.46852 seconds[0m ×2 + 11.55sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.55sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.56sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.56sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.56sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.60sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.60sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.61sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.61sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.61sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.63sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.65sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.65sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.66sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.68sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.68sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.68sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.69sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.69sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.69sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.69sINFOcontroller_serverOptimizer reset ×2 + 11.71sINFOcontroller_serverController Server has FollowPath controllers available. + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659241 ms (missed cycles : 6). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.659241 ms (missed cycles : 6).[0m ×2 + 11.74sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.74sINFOsmoother_serverConfiguring smoother server + 11.75sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 11.76sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 11.78sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 11.78sINFOplanner_serverConfiguring + 11.78sINFOglobal_costmap.global_costmapConfiguring + 11.79sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 11.80sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 11.80sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 11.80sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 11.81sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 11.85sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 11.85sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 11.85sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.85sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 11.86sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.86sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 11.90sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 11.90sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 11.91sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 11.91sINFOplanner_serverPlanner Server has GridBased planners available. + 11.93sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 11.93sINFObehavior_serverConfiguring + 11.94sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 11.95sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 11.95sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 11.95sINFOwaypoint_manager_nodeLoaded robot model in 0.482621 seconds[0m ×2 + 11.95sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 11.95sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.95sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 11.96sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 11.97sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 11.99sINFObehavior_serverConfiguring spin + 12.01sINFObehavior_serverConfiguring backup + 12.02sINFObehavior_serverConfiguring drive_on_heading + 12.03sINFObehavior_serverConfiguring assisted_teleop + 12.06sINFObehavior_serverConfiguring wait + 12.08sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.08sINFObt_navigatorConfiguring + 12.09sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.11sWARNbt_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 + 12.32sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.32sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.37sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 12.48sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 12.48sINFOwaypoint_followerConfiguring + 12.53sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 12.56sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 12.56sINFOvelocity_smootherConfiguring velocity smoother + 12.57sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 12.57sINFOcontroller_serverActivating + 12.57sINFOlocal_costmap.local_costmapActivating + 12.57sINFOlocal_costmap.local_costmapChecking transform + 12.57sINFOlocal_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 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502584 ms (missed cycles : 3). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502584 ms (missed cycles : 3).[0m ×2 + 13.19sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 13.35sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 13.43sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 13.43sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 13.43sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 13.44sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 13.44sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 13.44sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 13.44sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.44sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 13.44sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 13.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 13.44sINFOmove_groupStarting planning scene monitor[0m ×2 + 13.44sINFOmove_groupListening to '/planning_scene'[0m ×2 + 13.44sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 13.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 13.45sINFOmove_groupListening to 'collision_object'[0m ×2 + 13.45sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 13.52sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 13.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.10sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.10sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.10sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.10sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.10sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.10sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.10sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.10sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.10sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.10sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.10sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.10sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.10sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.10sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.10sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.13sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.13sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.13sWARNros2_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 + 14.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 14.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 14.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 14.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 14.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 14.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 14.23sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 14.23sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 14.23sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 14.23sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 14.23sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 14.23sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 14.23sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 14.24sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 14.24sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 14.24sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 14.24sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 14.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 14.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 14.25sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 14.25sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 14.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 14.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 14.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.40sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 14.40sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 14.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 14.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 14.42sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 14.42sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 14.42sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 14.42sINFOstreaming_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) + 14.42sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 14.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 14.42sINFOcomponent_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 + 14.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 14.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 14.55sWARNcomponent_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 + 14.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 14.57sINFOlocal_costmap.local_costmapstart + 14.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695024 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695024 ms (missed cycles : 2).[0m ×2 + 14.59sINFOros2-11process has finished cleanly [pid 9587] ×2 + 14.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 14.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 14.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.67sWARNcontroller_serverParameter controller_server.verbose not found + 14.67sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.67sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.67sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.67sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.71sINFOobjective_server_node[2026-08-19 20:30:07.338] [moveit_pro_license] [info] ×2 + 14.71sINFOobjective_server_node************************************************* ×4 + 14.71sINFOobjective_server_node* MoveIt Pro License ×2 + 14.71sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.78sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 14.78sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 14.78sINFOsmoother_serverActivating + 14.78sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 14.85sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.85sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 14.85sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.88sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 14.88sINFOcomponent_container_mtLoaded robot model in 0.309024 seconds[0m ×2 + 14.88sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 14.88sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.88sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 14.88sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 14.89sINFOplanner_serverActivating + 14.89sINFOglobal_costmap.global_costmapActivating + 14.89sINFOglobal_costmap.global_costmapChecking transform + 14.89sINFOglobal_costmap.global_costmapstart + 14.97sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.97sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.98sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 14.98sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 14.99sINFOros2-15process has finished cleanly [pid 9591] ×2 + 15.03sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.03sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.03sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.05sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 15.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.07sINFOplatform_velocity_controllerconfigure successful + 15.07sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.07sINFOobjective_server_nodeLoaded robot model in 0.290471 seconds[0m ×2 + 15.07sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.07sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.07sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 15.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.07sINFOros2_control_nodeconfigure successful[0m ×6 + 15.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.08sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 15.08sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 15.41sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.41sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.41sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.41sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.41sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 15.41sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 15.44sINFOros2-12process has finished cleanly [pid 9588] ×2 + 15.45sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.48sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 15.48sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 15.48sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.48sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.48sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.48sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.48sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.48sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.49sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 15.49sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 15.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707696 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707696 ms (missed cycles : 3).[0m ×2 + 15.62sINFOobjective_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 + 15.62sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 15.64sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 15.64sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 15.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 15.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 15.83sINFOros2-13process has finished cleanly [pid 9589] ×2 + 15.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 15.89sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.89sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.89sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 15.89sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.89sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 15.89sINFOforce_torque_sensor_broadcasterconfigure successful + 15.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 15.90sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.90sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 15.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 15.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.94sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.94sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.05sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.05sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.05sINFObehavior_serverActivating + 16.05sINFObehavior_serverActivating spin + 16.05sINFObehavior_serverActivating backup + 16.05sINFObehavior_serverActivating drive_on_heading + 16.05sINFObehavior_serverActivating assisted_teleop + 16.05sINFObehavior_serverActivating wait + 16.05sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 16.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 16.12sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.12sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.15sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.15sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.15sINFObt_navigatorActivating + 16.16sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 16.16sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 16.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.28sINFOros2-9process has finished cleanly [pid 9585] ×2 + 16.30sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 16.30sINFOmove_groupMoveGroup debug mode is ON + 16.30sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 16.30sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 16.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 16.35sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.35sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.35sINFOwaypoint_followerActivating + 16.35sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 16.36sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 16.40sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 16.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 16.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 16.45sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 16.45sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 16.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 16.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 16.46sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.46sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.46sINFOvelocity_smootherActivating + 16.46sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.46sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 16.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 16.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 16.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.49sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 16.49sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 16.49sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 16.53sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 16.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 16.56sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.56sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.58sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280831 ms (missed cycles : 6). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280831 ms (missed cycles : 6).[0m ×2 + 16.66sINFOmove_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
********************************************************
+ 16.66sINFOmove_group ×8 + 16.66sINFOmove_group******************************************************** ×4 + 16.66sINFOmove_group* MoveGroup using: ×2 + 16.66sINFOmove_group* - apply_planning_scene_service ×2 + 16.66sINFOmove_group* - clear_octomap_service ×2 + 16.66sINFOmove_group* - ExecuteTaskSolution ×2 + 16.66sINFOmove_group* - get_group_urdf ×2 + 16.66sINFOmove_group* - load_geometry_from_file ×2 + 16.66sINFOmove_group* - get_planning_scene_service ×2 + 16.66sINFOmove_group* - kinematics_service ×2 + 16.66sINFOmove_group* - save_geometry_to_file ×2 + 16.66sINFOmove_group* - GetPlanningGroups ×2 + 16.66sINFOmove_group* - SetActiveControllerService ×2 + 16.66sINFOmove_group* - URDFPlanningSceneCapability ×2 + 16.66sINFOmove_group[0m ×2 + 16.66sINFOmove_group[92mYou can start planning now![0m ×2 + 16.91sINFOros2_control_node[2026-08-19 20:30:09.540] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.92sINFOros2_control_node[2026-08-19 20:30:09.544] [info] Controller state will be published at 10 Hz. ×2 + 16.92sINFOros2_control_node[2026-08-19 20:30:09.545] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 17.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 17.28sINFOros2-16process has finished cleanly [pid 9592] ×2 + 17.34sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.34sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.35sINFOplatform_velocity_controller_nav2configure successful + 17.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.66sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 17.66sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064245 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064245 ms (missed cycles : 2).[0m ×2 + 17.69sINFOros2-14process has finished cleanly [pid 9590] ×2 + 17.73sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.74sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.74sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.74sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.75sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.75sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.76sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.76sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.08sINFOros2-10process has finished cleanly [pid 9586] ×2 + 18.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.20sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 18.20sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 18.26sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.26sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.27sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.27sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.71sINFOros2_control_node[2026-08-19 20:30:11.339] [info] Controller state will be published at 20 Hz. ×2 + 18.71sINFOros2_control_node[2026-08-19 20:30:11.340] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999048 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999048 ms (missed cycles : 2).[0m ×2 + 19.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 19.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 19.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 19.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 19.08sINFOros2-19process has finished cleanly [pid 9595] ×2 + 19.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.57sINFOros2_control_node[2026-08-19 20:30:12.191] [info] Controller state will be published at 20 Hz. ×2 + 19.57sINFOros2_control_node[2026-08-19 20:30:12.192] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921964 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921964 ms (missed cycles : 2).[0m ×2 + 19.91sINFOros2-18process has finished cleanly [pid 9594] ×2 + 19.94sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.94sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.95sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.95sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 + 19.95sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.95sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nruoaali --params-file /tmp/launch_params_asbrxxgx --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_el201kk1 --params-file /tmp/launch_params_flivz0j0 [0m ×2 + 20.01sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.02sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.02sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.02sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.46sINFOros2_control_node[2026-08-19 20:30:13.085] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.46sINFOros2_control_node[2026-08-19 20:30:13.086] [info] Controller state will be published at 10 Hz. ×2 + 20.46sINFOros2_control_node[2026-08-19 20:30:13.087] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764680 ms (missed cycles : 3). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764680 ms (missed cycles : 3).[0m ×2 + 20.80sINFOros2-17process has finished cleanly [pid 9593] ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115115 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115115 ms (missed cycles : 4).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874453 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874453 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.909252 ms (missed cycles : 10). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.909252 ms (missed cycles : 10).[0m ×2 + 24.14sINFOros2_control_nodeMuJoCo sim: 3.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386536 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386536 ms (missed cycles : 2).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781272 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781272 ms (missed cycles : 4).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873658 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873658 ms (missed cycles : 2).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.769593 ms (missed cycles : 9). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.769593 ms (missed cycles : 9).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804085 ms (missed cycles : 3). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804085 ms (missed cycles : 3).[0m ×2 + 30.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826412 ms (missed cycles : 7). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826412 ms (missed cycles : 7).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230449 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230449 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045856 ms (missed cycles : 4). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045856 ms (missed cycles : 4).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851745 ms (missed cycles : 4). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851745 ms (missed cycles : 4).[0m ×2 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334617 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334617 ms (missed cycles : 2).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634427 ms (missed cycles : 4). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634427 ms (missed cycles : 4).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574861 ms (missed cycles : 4). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574861 ms (missed cycles : 4).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362138 ms (missed cycles : 3). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362138 ms (missed cycles : 3).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433547 ms (missed cycles : 3). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433547 ms (missed cycles : 3).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653391 ms (missed cycles : 4). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653391 ms (missed cycles : 4).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249037 ms (missed cycles : 4). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249037 ms (missed cycles : 4).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.339452 ms (missed cycles : 6). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.339452 ms (missed cycles : 6).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812502 ms (missed cycles : 3). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812502 ms (missed cycles : 3).[0m ×2 + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.751428 ms (missed cycles : 5). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.751428 ms (missed cycles : 5).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490544 ms (missed cycles : 5). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490544 ms (missed cycles : 5).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265317 ms (missed cycles : 4). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.265317 ms (missed cycles : 4).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547259 ms (missed cycles : 4). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547259 ms (missed cycles : 4).[0m ×2 + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885680 ms (missed cycles : 3). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885680 ms (missed cycles : 3).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031878 ms (missed cycles : 4). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031878 ms (missed cycles : 4).[0m ×2 + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812058 ms (missed cycles : 2). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812058 ms (missed cycles : 2).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 54.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 54.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 54.53sWARNobjective_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 + 54.59sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 54.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 54.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 55.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 55.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 55.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 55.29sINFOmove_groupClearing octomap...[0m ×2 + 55.29sINFOmove_groupOctomap cleared.[0m ×2 + 55.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 55.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 55.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 55.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 56.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 56.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 57.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 57.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 57.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 57.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 57.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 57.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 57.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 57.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 57.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 57.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 57.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 57.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 57.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 57.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 57.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 57.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 57.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 57.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 57.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 57.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 57.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 57.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 57.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 57.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 23 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 2.26sWARNobjective_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 + 2.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 3.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.02sINFOmove_groupClearing octomap...[0m ×2 + 3.02sINFOmove_groupOctomap cleared.[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 26 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759512 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 3.34sWARNobjective_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 + 3.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.10sINFOmove_groupClearing octomap...[0m ×2 + 4.10sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 5.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 5.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 5.99sINFOobjective_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 + 5.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 6.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 6.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333833 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 2.26sWARNobjective_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 + 2.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 3.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.02sINFOmove_groupClearing octomap...[0m ×2 + 3.02sINFOmove_groupOctomap cleared.[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439136 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439136 ms (missed cycles : 5).[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 | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253302 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885215 ms (missed cycles : 2).[0m ×2 + 1.24sWARNobjective_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 + 1.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787171447.91114783 seconds. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787171447.92136073 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993895 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787171448.48615789 seconds. ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787171448.49627161 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4). + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787171449.06074619 seconds. ×3 + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086207 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787171449.21167207 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787171449.79448152 seconds. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787171449.86463141 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563824 ms (missed cycles : 4).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787171450.41720462 seconds. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041316 ms (missed cycles : 4).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal + 5.87sINFOjoint_trajectory_controllerAccepted new action goal + 5.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||