67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
26.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.2s | 3 errors · 232 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846032 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846032 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469319 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469319 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839507 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839507 ms (missed cycles : 3).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259768 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259768 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGot request to cancel goal + 4.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787172695.19545031 seconds ×3 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883987 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883987 ms (missed cycles : 3).[0m ×2 + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 3.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.11) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 3.17) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.36sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.11) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787172695.76682734 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (1.158e-06 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303685 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303685 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184095 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184095 ms (missed cycles : 7).[0m ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal ×4 + 7.11sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 7.11sINFOros2_control_nodeReceived new action goal[0m ×8 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×8 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765137 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765137 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763861 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763861 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164642 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164642 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238310 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238310 ms (missed cycles : 4).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774745 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774745 ms (missed cycles : 2).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427091 ms (missed cycles : 6). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427091 ms (missed cycles : 6).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312506 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312506 ms (missed cycles : 2).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004898 ms (missed cycles : 4). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004898 ms (missed cycles : 4).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755448 ms (missed cycles : 4). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755448 ms (missed cycles : 4).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717856 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717856 ms (missed cycles : 5).[0m ×2 + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047770 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047770 ms (missed cycles : 2).[0m ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464182 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464182 ms (missed cycles : 3).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742688 ms (missed cycles : 2). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.742688 ms (missed cycles : 2).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856003 ms (missed cycles : 2). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856003 ms (missed cycles : 2).[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055445 ms (missed cycles : 4). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055445 ms (missed cycles : 4).[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711436 ms (missed cycles : 5). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711436 ms (missed cycles : 5).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431228 ms (missed cycles : 5). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431228 ms (missed cycles : 5).[0m ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.032834 ms (missed cycles : 7). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.032834 ms (missed cycles : 7).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148615 ms (missed cycles : 4). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148615 ms (missed cycles : 4).[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258021 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258021 ms (missed cycles : 3).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828602 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828602 ms (missed cycles : 2).[0m ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192644 ms (missed cycles : 4). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192644 ms (missed cycles : 4).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239114 ms (missed cycles : 2). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239114 ms (missed cycles : 2).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775401 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775401 ms (missed cycles : 2).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247317 ms (missed cycles : 2). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247317 ms (missed cycles : 2).[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685204 ms (missed cycles : 3). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685204 ms (missed cycles : 3).[0m ×2 + 34.41sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.41sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415777 ms (missed cycles : 6). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415777 ms (missed cycles : 6).[0m ×2 + 35.84sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079756 ms (missed cycles : 3). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079756 ms (missed cycles : 3).[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807044 ms (missed cycles : 3). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807044 ms (missed cycles : 3).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182745 ms (missed cycles : 7). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182745 ms (missed cycles : 7).[0m ×2 + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728646 ms (missed cycles : 2). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728646 ms (missed cycles : 2).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463492 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463492 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089922 ms (missed cycles : 5). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089922 ms (missed cycles : 5).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445156 ms (missed cycles : 4). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.445156 ms (missed cycles : 4).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982996 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982996 ms (missed cycles : 3).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858764 ms (missed cycles : 5). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858764 ms (missed cycles : 5).[0m ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483996 ms (missed cycles : 4). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483996 ms (missed cycles : 4).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708330 ms (missed cycles : 3). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708330 ms (missed cycles : 3).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920134 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920134 ms (missed cycles : 3).[0m ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538802 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538802 ms (missed cycles : 3).[0m ×2 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732252 ms (missed cycles : 5). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.732252 ms (missed cycles : 5).[0m ×2 + 50.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482500 ms (missed cycles : 3). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482500 ms (missed cycles : 3).[0m ×2 + 51.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507592 ms (missed cycles : 2). + 51.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507592 ms (missed cycles : 2).[0m ×2 + 51.99sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135731 ms (missed cycles : 3). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135731 ms (missed cycles : 3).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686118 ms (missed cycles : 2). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686118 ms (missed cycles : 2).[0m ×2 + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114393 ms (missed cycles : 6). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.114393 ms (missed cycles : 6).[0m ×2 + 55.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881739 ms (missed cycles : 2). + 55.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881739 ms (missed cycles : 2).[0m ×2 + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049476 ms (missed cycles : 2). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049476 ms (missed cycles : 2).[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382921 ms (missed cycles : 2). + 57.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382921 ms (missed cycles : 2).[0m ×2 + 58.81sINFOros2_control_nodeMuJoCo sim: 6.82% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 58.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.952962 ms (missed cycles : 5). + 58.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.952962 ms (missed cycles : 5).[0m ×2 + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025906 ms (missed cycles : 7). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.025906 ms (missed cycles : 7).[0m ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037606 ms (missed cycles : 2). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037606 ms (missed cycles : 2).[0m ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758622 ms (missed cycles : 2). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758622 ms (missed cycles : 2).[0m ×2 + 63.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515928 ms (missed cycles : 6). + 63.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.515928 ms (missed cycles : 6).[0m ×2 + 64.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911649 ms (missed cycles : 3). + 64.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911649 ms (missed cycles : 3).[0m ×2 + 64.51sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 65.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.047844 ms (missed cycles : 7). + 65.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.047844 ms (missed cycles : 7).[0m ×2 + 66.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289799 ms (missed cycles : 2). + 66.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289799 ms (missed cycles : 2).[0m ×2 + 67.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105166 ms (missed cycles : 4). + 67.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.105166 ms (missed cycles : 4).[0m ×2 + 68.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973510 ms (missed cycles : 2). + 68.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973510 ms (missed cycles : 2).[0m ×2 + 69.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526491 ms (missed cycles : 3). + 69.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526491 ms (missed cycles : 3).[0m ×2 + 70.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925149 ms (missed cycles : 2). + 70.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925149 ms (missed cycles : 2).[0m ×2 + 71.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439627 ms (missed cycles : 6). + 71.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.439627 ms (missed cycles : 6).[0m ×2 + 72.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716841 ms (missed cycles : 2). + 72.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716841 ms (missed cycles : 2).[0m ×2 + 73.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 73.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 74.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 74.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 75.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 75.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 76.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 76.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 77.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 77.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 77.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 77.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 78.39sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 79.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 79.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.7s | 185 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.83sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.83sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.83sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.83sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787172533.56379366 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787172534.12551045 seconds. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673952 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673952 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352958 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352958 ms (missed cycles : 3).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236587 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236587 ms (missed cycles : 2).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807316 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807316 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673854 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673854 ms (missed cycles : 3).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169288 ms (missed cycles : 4). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169288 ms (missed cycles : 4).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520545 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520545 ms (missed cycles : 3).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363129 ms (missed cycles : 3). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363129 ms (missed cycles : 3).[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643179 ms (missed cycles : 4). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643179 ms (missed cycles : 4).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.466253 ms (missed cycles : 9). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.466253 ms (missed cycles : 9).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906714 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906714 ms (missed cycles : 2).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666091 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666091 ms (missed cycles : 3).[0m ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648597 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648597 ms (missed cycles : 3).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008497 ms (missed cycles : 4). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008497 ms (missed cycles : 4).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144827 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144827 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014620 ms (missed cycles : 7). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.014620 ms (missed cycles : 7).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643206 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643206 ms (missed cycles : 3).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564227 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564227 ms (missed cycles : 3).[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013050 ms (missed cycles : 7). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.013050 ms (missed cycles : 7).[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812182 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812182 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007806 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007806 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433518 ms (missed cycles : 6). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433518 ms (missed cycles : 6).[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787581 ms (missed cycles : 3). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787581 ms (missed cycles : 3).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216312 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216312 ms (missed cycles : 2).[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180876 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180876 ms (missed cycles : 2).[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008515 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008515 ms (missed cycles : 4).[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975591 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975591 ms (missed cycles : 3).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207020 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207020 ms (missed cycles : 3).[0m ×2 + 35.94sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075572 ms (missed cycles : 3). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075572 ms (missed cycles : 3).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575103 ms (missed cycles : 3). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575103 ms (missed cycles : 3).[0m ×2 + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306848 ms (missed cycles : 2). + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306848 ms (missed cycles : 2).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991598 ms (missed cycles : 2). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991598 ms (missed cycles : 2).[0m ×2 + 40.19sINFOros2_control_nodeMuJoCo sim: 3.75% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151284 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151284 ms (missed cycles : 2).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679417 ms (missed cycles : 5). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679417 ms (missed cycles : 5).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383963 ms (missed cycles : 3). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383963 ms (missed cycles : 3).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801130 ms (missed cycles : 2). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801130 ms (missed cycles : 2).[0m ×2 + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083708 ms (missed cycles : 4). + 44.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083708 ms (missed cycles : 4).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710706 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710706 ms (missed cycles : 3).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865786 ms (missed cycles : 3). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865786 ms (missed cycles : 3).[0m ×2 + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637546 ms (missed cycles : 4). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.637546 ms (missed cycles : 4).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709689 ms (missed cycles : 8). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709689 ms (missed cycles : 8).[0m ×2 + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766300 ms (missed cycles : 5). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766300 ms (missed cycles : 5).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074191 ms (missed cycles : 2). + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074191 ms (missed cycles : 2).[0m ×2 + 52.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030110 ms (missed cycles : 3). + 52.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030110 ms (missed cycles : 3).[0m ×2 + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877374 ms (missed cycles : 2). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877374 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419221 ms (missed cycles : 4). + 54.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419221 ms (missed cycles : 4).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937940 ms (missed cycles : 7). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.937940 ms (missed cycles : 7).[0m ×2 + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206768 ms (missed cycles : 2). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206768 ms (missed cycles : 2).[0m ×2 + 57.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358177 ms (missed cycles : 4). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358177 ms (missed cycles : 4).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 60.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 61.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 61.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 61.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 61.76sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.76sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 62.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 62.65sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 62.68sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 63.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.0s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103354 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103354 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.59sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.59sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.59sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092887 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092887 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195603 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195603 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105316 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105316 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351912 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351912 ms (missed cycles : 3).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852400 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852400 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395958 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395958 ms (missed cycles : 3).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356130 ms (missed cycles : 3). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356130 ms (missed cycles : 3).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675504 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675504 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011621 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011621 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735166 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735166 ms (missed cycles : 2).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817753 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817753 ms (missed cycles : 2).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684015 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684015 ms (missed cycles : 2).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363312 ms (missed cycles : 3). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363312 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835691 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835691 ms (missed cycles : 2).[0m ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541041 ms (missed cycles : 3). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541041 ms (missed cycles : 3).[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684975 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684975 ms (missed cycles : 3).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783717 ms (missed cycles : 3). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783717 ms (missed cycles : 3).[0m ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763769 ms (missed cycles : 5). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763769 ms (missed cycles : 5).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049033 ms (missed cycles : 4). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049033 ms (missed cycles : 4).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301967 ms (missed cycles : 3). + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301967 ms (missed cycles : 3).[0m ×2 + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259311 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259311 ms (missed cycles : 2).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867036 ms (missed cycles : 5). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.867036 ms (missed cycles : 5).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519734 ms (missed cycles : 4). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519734 ms (missed cycles : 4).[0m ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996438 ms (missed cycles : 3). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996438 ms (missed cycles : 3).[0m ×2 + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458692 ms (missed cycles : 6). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458692 ms (missed cycles : 6).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822930 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822930 ms (missed cycles : 2).[0m ×2 + 33.85sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057248 ms (missed cycles : 5). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.057248 ms (missed cycles : 5).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488852 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488852 ms (missed cycles : 3).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272055 ms (missed cycles : 4). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272055 ms (missed cycles : 4).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341770 ms (missed cycles : 3). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341770 ms (missed cycles : 3).[0m ×2 + 39.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712078 ms (missed cycles : 4). + 39.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712078 ms (missed cycles : 4).[0m ×2 + 40.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185519 ms (missed cycles : 2). + 40.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185519 ms (missed cycles : 2).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883013 ms (missed cycles : 3). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883013 ms (missed cycles : 3).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936873 ms (missed cycles : 3). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936873 ms (missed cycles : 3).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664491 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664491 ms (missed cycles : 3).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644192 ms (missed cycles : 3). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644192 ms (missed cycles : 3).[0m ×2 + 45.01sINFOros2_control_nodeMuJoCo sim: 7.22% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308455 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308455 ms (missed cycles : 2).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712357 ms (missed cycles : 4). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712357 ms (missed cycles : 4).[0m ×2 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854499 ms (missed cycles : 2). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854499 ms (missed cycles : 2).[0m ×2 + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477629 ms (missed cycles : 6). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.477629 ms (missed cycles : 6).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.238375 ms (missed cycles : 12). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.238375 ms (missed cycles : 12).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384029 ms (missed cycles : 3). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384029 ms (missed cycles : 3).[0m ×2 + 51.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479054 ms (missed cycles : 6). + 51.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.479054 ms (missed cycles : 6).[0m ×2 + 52.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007941 ms (missed cycles : 3). + 52.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007941 ms (missed cycles : 3).[0m ×2 + 53.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891507 ms (missed cycles : 2). + 53.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891507 ms (missed cycles : 2).[0m ×2 + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767083 ms (missed cycles : 4). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767083 ms (missed cycles : 4).[0m ×2 + 55.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743918 ms (missed cycles : 2). + 55.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743918 ms (missed cycles : 2).[0m ×2 + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981492 ms (missed cycles : 2). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981492 ms (missed cycles : 2).[0m ×2 + 57.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.166538 ms (missed cycles : 7). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.166538 ms (missed cycles : 7).[0m ×2 + 58.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577350 ms (missed cycles : 4). + 58.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577350 ms (missed cycles : 4).[0m ×2 + 59.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787172824.39052010 seconds ×3 + 60.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758030 ms (missed cycles : 8). + 60.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758030 ms (missed cycles : 8).[0m ×2 + 60.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787172824.97922373 seconds. ×3 + 60.59sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 60.63sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995015 ms (missed cycles : 2). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995015 ms (missed cycles : 2).[0m ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833190 ms (missed cycles : 2). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833190 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.3s | 184 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787172629.20829821 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787172629.78316069 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 + 4.71sINFOros2_control_nodeMuJoCo sim: 4.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290659 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290659 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861870 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861870 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607249 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607249 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826602 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826602 ms (missed cycles : 2).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889082 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889082 ms (missed cycles : 2).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294015 ms (missed cycles : 4). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294015 ms (missed cycles : 4).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430751 ms (missed cycles : 7). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.430751 ms (missed cycles : 7).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449815 ms (missed cycles : 6). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449815 ms (missed cycles : 6).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721012 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721012 ms (missed cycles : 3).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921427 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921427 ms (missed cycles : 2).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748247 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748247 ms (missed cycles : 2).[0m ×2 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672765 ms (missed cycles : 5). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672765 ms (missed cycles : 5).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607951 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.607951 ms (missed cycles : 4).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771118 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771118 ms (missed cycles : 2).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883630 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883630 ms (missed cycles : 3).[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.952659 ms (missed cycles : 6). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.952659 ms (missed cycles : 6).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661914 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661914 ms (missed cycles : 3).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125045 ms (missed cycles : 5). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125045 ms (missed cycles : 5).[0m ×2 + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976898 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976898 ms (missed cycles : 2).[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730358 ms (missed cycles : 5). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730358 ms (missed cycles : 5).[0m ×2 + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841932 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841932 ms (missed cycles : 2).[0m ×2 + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148780 ms (missed cycles : 3). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148780 ms (missed cycles : 3).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042181 ms (missed cycles : 4). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042181 ms (missed cycles : 4).[0m ×2 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279769 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279769 ms (missed cycles : 3).[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179324 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179324 ms (missed cycles : 2).[0m ×2 + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.396854 ms (missed cycles : 12). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.396854 ms (missed cycles : 12).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069430 ms (missed cycles : 3). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069430 ms (missed cycles : 3).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810863 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810863 ms (missed cycles : 3).[0m ×2 + 36.50sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925614 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925614 ms (missed cycles : 2).[0m ×2 + 37.36sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096956 ms (missed cycles : 2). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096956 ms (missed cycles : 2).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327155 ms (missed cycles : 4). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327155 ms (missed cycles : 4).[0m ×2 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771669 ms (missed cycles : 2). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771669 ms (missed cycles : 2).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362879 ms (missed cycles : 3). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362879 ms (missed cycles : 3).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898195 ms (missed cycles : 3). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898195 ms (missed cycles : 3).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578036 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578036 ms (missed cycles : 2).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.022574 ms (missed cycles : 7). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.022574 ms (missed cycles : 7).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673046 ms (missed cycles : 3). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673046 ms (missed cycles : 3).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733820 ms (missed cycles : 2). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733820 ms (missed cycles : 2).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791654 ms (missed cycles : 2). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791654 ms (missed cycles : 2).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261846 ms (missed cycles : 2). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261846 ms (missed cycles : 2).[0m ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512927 ms (missed cycles : 3). + 49.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512927 ms (missed cycles : 3).[0m ×2 + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977539 ms (missed cycles : 2). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977539 ms (missed cycles : 2).[0m ×2 + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466402 ms (missed cycles : 4). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466402 ms (missed cycles : 4).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472225 ms (missed cycles : 3). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472225 ms (missed cycles : 3).[0m ×2 + 53.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.635876 ms (missed cycles : 6). + 53.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.635876 ms (missed cycles : 6).[0m ×2 + 54.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489712 ms (missed cycles : 5). + 54.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489712 ms (missed cycles : 5).[0m ×2 + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786762 ms (missed cycles : 2). + 55.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786762 ms (missed cycles : 2).[0m ×2 + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198566 ms (missed cycles : 3). + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198566 ms (missed cycles : 3).[0m ×2 + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363151 ms (missed cycles : 2). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363151 ms (missed cycles : 2).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550144 ms (missed cycles : 2). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550144 ms (missed cycles : 2).[0m ×2 + 59.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787172684.53331757 seconds ×3 + 59.47sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.70) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.47sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.22) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 59.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151997 ms (missed cycles : 2). + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151997 ms (missed cycles : 2).[0m ×2 + 59.97sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787172685.09534049 seconds. ×3 + 60.41sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 60.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225942 ms (missed cycles : 2). + 60.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225942 ms (missed cycles : 2).[0m ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741546 ms (missed cycles : 4). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741546 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.3s | 144 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 0.71sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.44sINFOmove_groupClearing octomap...[0m ×2 + 1.44sINFOmove_groupOctomap cleared.[0m ×2 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.39sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815463 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815463 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792649 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792649 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508339 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508339 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170478 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170478 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.190514 ms (missed cycles : 5). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.190514 ms (missed cycles : 5).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328262 ms (missed cycles : 4). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.328262 ms (missed cycles : 4).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062329 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062329 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066086 ms (missed cycles : 4). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066086 ms (missed cycles : 4).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055688 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055688 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190233 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190233 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979574 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979574 ms (missed cycles : 2).[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245891 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245891 ms (missed cycles : 2).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007541 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007541 ms (missed cycles : 2).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176267 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176267 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997712 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997712 ms (missed cycles : 2).[0m ×2 + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080310 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080310 ms (missed cycles : 2).[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871947 ms (missed cycles : 2). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871947 ms (missed cycles : 2).[0m ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441423 ms (missed cycles : 6). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441423 ms (missed cycles : 6).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723563 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723563 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.497803 ms (missed cycles : 7). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.497803 ms (missed cycles : 7).[0m ×2 + 26.91sINFOros2_control_nodeMuJoCo sim: 2.79% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296391 ms (missed cycles : 2). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296391 ms (missed cycles : 2).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788515 ms (missed cycles : 4). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788515 ms (missed cycles : 4).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.368939 ms (missed cycles : 7). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.368939 ms (missed cycles : 7).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838738 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838738 ms (missed cycles : 3).[0m ×2 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963377 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963377 ms (missed cycles : 3).[0m ×2 + 32.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407025 ms (missed cycles : 4). + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407025 ms (missed cycles : 4).[0m ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662482 ms (missed cycles : 4). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662482 ms (missed cycles : 4).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185340 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185340 ms (missed cycles : 3).[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114651 ms (missed cycles : 2). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114651 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.993681 ms (missed cycles : 6). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.993681 ms (missed cycles : 6).[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153709 ms (missed cycles : 4). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153709 ms (missed cycles : 4).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824991 ms (missed cycles : 2). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824991 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636088 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636088 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192003 ms (missed cycles : 7). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.192003 ms (missed cycles : 7).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948306 ms (missed cycles : 3). + 42.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948306 ms (missed cycles : 3).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2).[0m ×2 + 44.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2). + 44.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2).[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2).[0m ×2 + 46.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3).[0m ×2 + 46.72sINFOjoint_trajectory_controllerGoal reached, success! + 46.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 47.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 48.53sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 48.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 32.2s | 113 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971099 ms (missed cycles : 8). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971099 ms (missed cycles : 8).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654519 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654519 ms (missed cycles : 5).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.86sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787172596.03534484 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791703 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791703 ms (missed cycles : 6).[0m ×2 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384627 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384627 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787172597.58813024 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643092 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643092 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242418 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242418 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857022 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857022 ms (missed cycles : 2).[0m ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.62sINFOjoint_trajectory_controllerReceived new action goal + 7.62sINFOjoint_trajectory_controllerAccepted new action goal + 7.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734772 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.734772 ms (missed cycles : 5).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979595 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979595 ms (missed cycles : 3).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197570 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197570 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702227 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702227 ms (missed cycles : 2).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463172 ms (missed cycles : 2). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463172 ms (missed cycles : 2).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051535 ms (missed cycles : 5). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.051535 ms (missed cycles : 5).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990604 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990604 ms (missed cycles : 3).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.110614 ms (missed cycles : 7). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.110614 ms (missed cycles : 7).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913362 ms (missed cycles : 5). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913362 ms (missed cycles : 5).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351894 ms (missed cycles : 3). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351894 ms (missed cycles : 3).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073866 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073866 ms (missed cycles : 3).[0m ×2 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358599 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358599 ms (missed cycles : 2).[0m ×2 + 21.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795797 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795797 ms (missed cycles : 2).[0m ×2 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609258 ms (missed cycles : 3). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609258 ms (missed cycles : 3).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.022628 ms (missed cycles : 7). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.022628 ms (missed cycles : 7).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984742 ms (missed cycles : 3). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984742 ms (missed cycles : 3).[0m ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043625 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043625 ms (missed cycles : 4).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587869 ms (missed cycles : 4). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587869 ms (missed cycles : 4).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311638 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311638 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263628 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263628 ms (missed cycles : 2).[0m ×2 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792993 ms (missed cycles : 3). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792993 ms (missed cycles : 3).[0m ×2 + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794855 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794855 ms (missed cycles : 2).[0m ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2).[0m ×2 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2).[0m ×2 + 36.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787172629.20829821 seconds ×3 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4). + 36.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4).[0m ×2 + 36.12sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 36.12sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 36.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787172629.78316069 seconds. ×3 + 36.66sINFOros2_control_nodeMuJoCo sim: 4.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.04sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 14.5s | 60 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743918 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743918 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981492 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981492 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.166538 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.166538 ms (missed cycles : 7).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577350 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577350 ms (missed cycles : 4).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787172824.39052010 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758030 ms (missed cycles : 8). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.758030 ms (missed cycles : 8).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787172824.97922373 seconds. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995015 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995015 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833190 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833190 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917783 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917783 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258108 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258108 ms (missed cycles : 2).[0m ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (1.559e-06 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112675 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112675 ms (missed cycles : 3).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (9.35e-07 s). ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 10.04sINFOobjective_server_nodeFound path in 98 iterations (0.0557611 s). ×2 + 10.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (1.137e-06 s). ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875568 ms (missed cycles : 5). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875568 ms (missed cycles : 5).[0m ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.00sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________X] ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607248 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607248 ms (missed cycles : 3).[0m ×2 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 12.33sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 12.38sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310093 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310093 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119292 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119292 ms (missed cycles : 3).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3).[0m ×2 + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2).[0m ×2 + 18.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787172838.92111373 seconds ×3 + 18.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787172839.53296423 seconds. ×3 + 19.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.00sINFOmove_groupClearing octomap...[0m ×2 + 19.00sINFOmove_groupOctomap cleared.[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2).[0m ×2 + 19.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787172840.21311045 seconds ×3 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2).[0m ×2 + 20.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787172840.77233219 seconds. ×3 + 20.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787172841.37246585 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 89 errors · 33 warnings · 427 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787172838.92111373 seconds ×3 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787172839.53296423 seconds. ×3 + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.99sINFOmove_groupClearing octomap...[0m ×2 + 2.99sINFOmove_groupOctomap cleared.[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787172840.21311045 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787172840.77233219 seconds. ×3 + 4.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787172841.37246585 seconds ×3 + 5.07sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144108 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144108 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682184 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682184 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536654 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536654 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975816 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975816 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086897 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086897 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201662 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201662 ms (missed cycles : 4).[0m ×2 + 10.47sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.48sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 10.54sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 10.60sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 10.64sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 10.67sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 10.70sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.73sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.75sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.79sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.81sINFOweb_video_server-32process has finished cleanly [pid 9673] ×2 + 10.81sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.85sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.87sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9672] ×2 + 10.88sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.91sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.95sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.95sINFOcontroller_managerShutdown request received.... + 10.95sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.95sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.95sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.95sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.95sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.95sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.95sINFOcontroller_managerShutting down the controller manager. + 10.95sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sERRORmove_group-20process has died [pid 9618, 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_do04tyny --params-file /tmp/launch_params_oj8kzwj_ --params-file /tmp/launch_params_ql666emk --params-file /tmp/launch_params_wygwx5iq --params-file /tmp/launch_params_bg_5za2h --params-file /tmp/launch_params_yomr5jtr --params-file /tmp/launch_params_wypd_29b --params-file /tmp/launch_params_lei5qvun --params-file /tmp/launch_params_1344uj6t']. ×2 + 10.96sERRORui_teleop_bridge-29process has died [pid 9668, 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_3puafsqj']. ×2 + 10.98sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.01sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.01sINFOcomponent_container_mt-27process has finished cleanly [pid 9666] ×2 + 11.04sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.06sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.07sINFOexecute_objective_bridge-28process has finished cleanly [pid 9667] ×2 + 11.09sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.09sERRORobjective_server_node_main-25process has died [pid 9664, 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_hpwrww7t --params-file /tmp/launch_params_pmd7hfxv --params-file /tmp/launch_params_51s6sts0 --params-file /tmp/launch_params_kgfura3h --params-file /tmp/launch_params_42lomlxu --params-file /tmp/launch_params_hp8gyrp7']. ×2 + 11.11sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.13sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.13sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.13sINFOcontroller_serverDeactivating + 11.13sINFOlocal_costmap.local_costmapDeactivating + 11.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.13sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.1', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.13sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.13sINFOui_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 + 11.13sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.13sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.13sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.13sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.13sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.13sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.14sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.14sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 11.14sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOobjective_server_node[2026-08-19 20:54:07.438] [moveit_pro_license] [critical] ×2 + 11.14sINFOobjective_server_node************************************************* ×4 + 11.14sINFOobjective_server_node* MoveIt Pro License ×2 + 11.14sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.14sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.14sERRORmove_groupStack trace (most recent call last) in thread 10193: ×2 + 11.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb424d37a63, in __clone ×2 + 11.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb424caaaa3, in ×2 + 11.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb424f3adb3, in ×2 + 11.14sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7fb4255911a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.14sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb4252af4d0, in rclcpp::Rate::sleep() ×2 + 11.14sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb425202a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.14sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb4251c7a71, in ×2 + 11.14sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb424f09390, in __cxa_throw ×2 + 11.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb424ef3a54, in std::terminate() ×2 + 11.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb424f090d9, in ×2 + 11.15sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb424ef3ff4, in ×2 + 11.15sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb424c368fe, in abort ×2 + 11.15sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb424c5327d, in raise ×2 + 11.15sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb424cacb2c, in pthread_kill ×2 + 11.15sERRORmove_groupAborted (Signal sent by tkill() 9618 0) ×2 + 11.15sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.15sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.15sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.15sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.15sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.15sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.15sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.15sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.15sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.15sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.15sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.15sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.15sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.15sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55775370dd14, in _start ×2 + 11.15sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae74ae228a, in __libc_start_main ×2 + 11.15sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae74ae21d0, in ×2 + 11.15sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae74affbbd, in exit ×2 + 11.15sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fae74affa75, in ×2 + 11.15sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fae74fce8f5, in spdlog::details::registry::~registry() ×2 + 11.15sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55775370ebf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.15sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557753715865, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.15sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557753714af9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.15sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5577537110cb, in spdlog_ros::RosSink::~RosSink() ×2 + 11.15sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55775370ebf9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.15sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae756a1454, in rclcpp::Node::~Node() ×2 + 11.15sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae7565c515, in ×2 + 11.15sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae7569fd20, in ×2 + 11.15sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae7569fc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.15sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae7565c5d9, in ×2 + 11.15sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fae75661161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.16sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fae2049abb0]) ×2 + 11.16sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.16sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.16sINFOodom_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 + 11.16sINFOodom_qos_relay.pymain() ×2 + 11.16sINFOodom_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 + 11.16sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.16sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.16sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.16sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.16sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.16sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.16sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.16sINFOcontroller_serverCleaning up + 11.16sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.16sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.16sINFOlocal_costmap.local_costmapCleaning up + 11.16sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.16sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.17sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.17sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.17sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.18sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.21sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.21sINFOmap_serverDeactivating + 11.21sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.22sINFOmap_serverCleaning up + 11.22sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.22sINFOsmoother_serverDeactivating + 11.22sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.23sINFOsmoother_serverCleaning up + 11.24sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.24sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.26sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.26sINFOplanner_serverDeactivating + 11.26sINFOglobal_costmap.global_costmapDeactivating + 11.27sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.27sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.27sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.27sINFOvelocity_smootherDeactivating + 11.27sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.38sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.38sINFOwaypoint_followerDeactivating + 11.38sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.49sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.50sINFObt_navigatorDeactivating + 11.50sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.61sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.61sINFObehavior_serverDeactivating + 11.61sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.72sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.72sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.72sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.72sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.73sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.73sINFOvelocity_smootherCleaning up + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.73sINFOwaypoint_followerCleaning up + 11.76sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.76sINFObt_navigatorCleaning up + 11.77sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.77sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.78sINFOplanner_serverCleaning up + 11.80sINFOglobal_costmap.global_costmapCleaning up + 11.81sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.81sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.85sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.85sINFObehavior_serverCleaning up + 11.85sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9663] ×2 + 11.85sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.85sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.85sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.85sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.88sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9621] ×2 + 11.94sINFObt_navigatorCompleted Cleaning up + 11.94sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.95sINFOparameter_manager_node-21process has finished cleanly [pid 9619] ×2 + 11.97sINFOwaypoint_manager_node-22process has finished cleanly [pid 9620] ×2 + 11.97sINFOcomponent_container_mt-26process has finished cleanly [pid 9665] ×2 + 11.99sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.00sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.00sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.00sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.00sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.00sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.00sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.02sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9510] ×2 + 12.06sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9509] ×2 + 12.10sINFOstatic_transform_publisher-4process has finished cleanly [pid 9507] ×2 + 12.13sINFOstatic_transform_publisher-3process has finished cleanly [pid 9506] ×2 + 12.15sINFOstatic_transform_publisher-2process has finished cleanly [pid 9505] ×2 + 12.17sERRORodom_qos_relay.py-5process has died [pid 9508, 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 + 12.27sERRORcomponent_container_isolated-1process has died [pid 9504, 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_pbyx4pom --params-file /tmp/launch_params_nr_h6glf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.47sINFOweb_bridge-30process has finished cleanly [pid 9669] ×2 + 13.47sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 13.69sINFOros2_control_node-8process has finished cleanly [pid 9511] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 57 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786762 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198566 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198566 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363151 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363151 ms (missed cycles : 2).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550144 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550144 ms (missed cycles : 2).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787172684.53331757 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 10.70) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 11.22) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151997 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151997 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787172685.09534049 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225942 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225942 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741546 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741546 ms (missed cycles : 4).[0m ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.73sINFOjoint_trajectory_controllerReceived new action goal + 6.73sINFOjoint_trajectory_controllerAccepted new action goal + 6.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427150 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427150 ms (missed cycles : 4).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672006 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672006 ms (missed cycles : 2).[0m ×2 + 9.13sINFOros2_control_nodeMuJoCo sim: 5.96% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272449 ms (missed cycles : 5). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.272449 ms (missed cycles : 5).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846032 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846032 ms (missed cycles : 3).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469319 ms (missed cycles : 4). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469319 ms (missed cycles : 4).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839507 ms (missed cycles : 3). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839507 ms (missed cycles : 3).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259768 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259768 ms (missed cycles : 3).[0m ×2 + 14.44sINFOjoint_trajectory_controllerGot request to cancel goal + 14.44sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.44sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.44sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787172695.19545031 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883987 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883987 ms (missed cycles : 3).[0m ×2 + 14.59sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 3.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.59sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.11) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.68sWARNlocal_costmap.local_costmapSensor origin at (-0.50, 3.17) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 14.68sWARNlocal_costmap.local_costmapSensor origin at (-1.40, 3.11) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 15.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787172695.76682734 seconds. ×3 + 15.50sINFOobjective_server_nodeFound path in 0 iterations (1.158e-06 s). ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303685 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303685 ms (missed cycles : 3).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184095 ms (missed cycles : 7). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.184095 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 38 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971099 ms (missed cycles : 8). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.971099 ms (missed cycles : 8).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654519 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654519 ms (missed cycles : 5).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787172596.03534484 seconds ×3 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791703 ms (missed cycles : 6). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.791703 ms (missed cycles : 6).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384627 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384627 ms (missed cycles : 3).[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787172597.58813024 seconds. ×3 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643092 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.643092 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242418 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242418 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3).[0m ×2 + 3.58sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.58sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787172533.56379366 seconds ×3 + 8.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787172534.12551045 seconds. ×3 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5).[0m ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787172838.92111373 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787172839.53296423 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787172840.21311045 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787172840.77233219 seconds. ×3 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787172841.37246585 seconds ×3 + 6.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144108 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144108 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682184 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682184 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3).[0m ×2 + 3.58sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894705 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683598 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858199 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352583 ms (missed cycles : 3).[0m ×2 + 3.58sINFOjoint_trajectory_controllerGoal reached, success! + 3.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214260 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004946 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415584 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.039507 ms (missed cycles : 6).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787172591.29565930 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787172591.87520432 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646755 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706155 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787172629.20829821 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787172629.78316069 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 4.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787172629.20829821 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787172629.78316069 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 4.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229894 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.213149 ms (missed cycles : 7).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492984 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877121 ms (missed cycles : 2).[0m ×2 + 3.42sINFOjoint_trajectory_controllerGoal reached, success! + 3.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787172838.92111373 seconds ×3 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787172839.53296423 seconds. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353781 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787172840.21311045 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073966 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787172840.77233219 seconds. ×3 + 5.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787172841.37246585 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787172529.68318081 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787172530.24362564 seconds. ×3 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.434327 ms (missed cycles : 6).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175305 ms (missed cycles : 7).[0m ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.9908e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOjoint_trajectory_controllerReceived new action goal + 1.83sINFOjoint_trajectory_controllerAccepted new action goal + 1.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188383 ms (missed cycles : 3).[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077270 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787172533.56379366 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787172534.12551045 seconds. ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773659 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999136 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 23 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219842 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963952 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.823107 ms (missed cycles : 5).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817455 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787172629.20829821 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509537 ms (missed cycles : 4).[0m ×2 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787172629.78316069 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOros2_control_nodeMuJoCo sim: 4.92% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559636 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809347 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780163 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719280 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685700 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627661 ms (missed cycles : 6).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787172768.37263799 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787172768.95036626 seconds. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538533 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213167 ms (missed cycles : 2).[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 | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_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 | 62.7s | 10 errors · 185 warnings · 4869 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/2026-08-19-20-47-01-676035-2c46cf6ecc55-9454 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.06sINFOlaunch.usernav2 params: nav2_params_jazzy.yaml (ROS_DISTRO=jazzy) ×2 + 10.69sINFOstatic_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' + 10.69sINFOstatic_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' + 10.69sINFOstatic_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' + 10.75sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.77sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.77sINFOcontroller_managerupdate rate is 600 Hz + 10.77sINFOcontroller_managerOverruns handling is : enabled + 10.77sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.77sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 10.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 11.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.03sINFOros2_control_node-8process started with pid [9511] ×2 + 11.03sINFOmove_group-20process started with pid [9618] ×2 + 11.03sINFOparameter_manager_node-21process started with pid [9619] ×2 + 11.03sINFOwaypoint_manager_node-22process started with pid [9620] ×2 + 11.03sINFOmove_joint_resampler_node-23process started with pid [9621] ×2 + 11.03sINFOmove_end_effector_resampler_node-24process started with pid [9663] ×2 + 11.03sINFOobjective_server_node_main-25process started with pid [9664] ×2 + 11.03sINFOcomponent_container_mt-26process started with pid [9665] ×2 + 11.04sINFOcomponent_container_mt-27process started with pid [9666] ×2 + 11.04sINFOexecute_objective_bridge-28process started with pid [9667] ×2 + 11.04sINFOui_teleop_bridge-29process started with pid [9668] ×2 + 11.04sINFOweb_bridge-30process started with pid [9669] ×2 + 11.04sINFOtf2_web_republisher_node-31process started with pid [9672] ×2 + 11.04sINFOweb_video_server-32process started with pid [9673] ×2 + 11.05sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 11.06sINFOcontroller_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. + 11.06sINFOcomponent_container_isolated-1process started with pid [9504] ×2 + 11.06sINFOstatic_transform_publisher-2process started with pid [9505] ×2 + 11.06sINFOstatic_transform_publisher-3process started with pid [9506] ×2 + 11.06sINFOstatic_transform_publisher-4process started with pid [9507] ×2 + 11.07sINFOodom_qos_relay.py-5process started with pid [9508] ×2 + 11.07sINFOscan_to_scan_filter_chain-6process started with pid [9509] ×2 + 11.07sINFOscan_to_scan_filter_chain-7process started with pid [9510] ×2 + 11.07sINFOros2-9process started with pid [9589] ×2 + 11.07sINFOros2-10process started with pid [9590] ×2 + 11.07sINFOros2-11process started with pid [9591] ×2 + 11.07sINFOros2-12process started with pid [9592] ×2 + 11.07sINFOros2-13process started with pid [9593] ×2 + 11.07sINFOros2-14process started with pid [9594] ×2 + 11.07sINFOros2-15process started with pid [9595] ×2 + 11.07sINFOros2-16process started with pid [9607] ×2 + 11.07sINFOros2-17process started with pid [9615] ×2 + 11.07sINFOros2-18process started with pid [9616] ×2 + 11.07sINFOros2-19process started with pid [9617] ×2 + 11.15sINFOcontroller_serverCreating controller server + 11.17sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 11.19sINFOlocal_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. + 11.20sINFOlocal_costmap.local_costmapCreating Costmap + 11.21sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 11.21sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 11.22sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 11.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 11.22sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 11.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 11.22sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 11.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 11.22sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 11.22sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 11.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 11.22sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 11.22sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 11.22sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 11.22sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 11.22sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 11.23sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 11.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 11.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 11.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 11.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 11.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 11.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.25sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 11.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.28sINFOmap_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. + 11.28sINFOmap_serverCreating + 11.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280175 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280175 ms (missed cycles : 2).[0m ×2 + 11.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 11.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.33sINFOsmoother_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. + 11.34sINFOrobot_state_publisherRobot initialized + 11.34sINFOcontroller_managerReceived robot description from topic. + 11.34sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 11.34sINFOcomponent_container_mtRobot initialized[0m ×2 + 11.34sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 11.34sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 11.35sINFOsmoother_serverCreating smoother server + 11.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 11.36sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 11.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.37sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.41sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.41sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.41sINFOlifecycle_manager_localizationCreating + 11.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.45sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 11.47sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 11.47sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 11.47sINFOmap_serverConfiguring + 11.52sINFOplanner_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. + 11.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.54sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.55sINFOplanner_serverCreating + 11.57sINFOglobal_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. + 11.59sINFOglobal_costmap.global_costmapCreating Costmap + 11.60sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.60sINFOmap_serverActivating + 11.60sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.66sINFObehavior_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. + 11.70sWARNlaser_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. + 11.70sWARNlaser_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. + 11.70sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 11.71sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.71sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.71sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.73sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.73sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.74sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.74sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.76sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.76sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.76sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.79sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.50644 seconds + 11.79sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.80sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.82sINFObt_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. + 11.85sINFObt_navigatorCreating + 11.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.87sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.89sINFOmove_groupLoaded robot model in 0.50644 seconds[0m ×2 + 11.89sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.89sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.95sINFOwaypoint_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. + 11.96sINFOwaypoint_followerCreating + 11.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 12.03sINFOvelocity_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. + 12.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 12.09sINFOlifecycle_manager_navigationCreating + 12.10sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 12.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 12.14sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 12.14sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 12.15sINFOcontroller_serverConfiguring controller interface + 12.15sINFOcontroller_servergetting progress checker plugins.. + 12.15sINFOcontroller_servergetting goal checker plugins.. + 12.15sINFOcontroller_serverController frequency set to 20.0000Hz + 12.15sINFOlocal_costmap.local_costmapConfiguring + 12.15sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 12.20sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 12.24sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 12.24sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 12.24sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 12.29sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 12.29sINFOcontroller_serverController Server has progress_checker progress checkers available. + 12.30sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 12.30sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 12.31sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858645 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858645 ms (missed cycles : 2).[0m ×2 + 12.32sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 12.33sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 12.33sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 12.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.34sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 12.34sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.34sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 12.34sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.35sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 12.35sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 12.35sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 12.35sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 12.36sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 12.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 12.37sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 12.38sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 12.38sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 12.38sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 12.38sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 12.39sINFOcontroller_serverOptimizer reset ×2 + 12.40sINFOcontroller_serverController Server has FollowPath controllers available. + 12.42sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 12.42sINFOsmoother_serverConfiguring smoother server + 12.43sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.43sINFOwaypoint_manager_nodeLoaded robot model in 0.465065 seconds[0m ×2 + 12.43sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.44sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.45sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 12.45sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 12.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 12.47sINFOplanner_serverConfiguring + 12.47sINFOglobal_costmap.global_costmapConfiguring + 12.50sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 12.50sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 12.50sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 12.50sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 12.50sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 12.54sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 12.54sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 12.55sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 12.59sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.59sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 12.59sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 12.60sINFOplanner_serverPlanner Server has GridBased planners available. + 12.63sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 12.63sINFObehavior_serverConfiguring + 12.63sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 12.64sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 12.64sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 12.65sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 12.66sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 12.67sINFObehavior_serverConfiguring spin + 12.69sINFObehavior_serverConfiguring backup + 12.71sINFObehavior_serverConfiguring drive_on_heading + 12.72sINFObehavior_serverConfiguring assisted_teleop + 12.74sINFObehavior_serverConfiguring wait + 12.76sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.76sINFObt_navigatorConfiguring + 12.77sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.79sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.79sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.80sWARNbt_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 + 13.07sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 13.32sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 13.32sINFOwaypoint_followerConfiguring + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694336 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694336 ms (missed cycles : 3).[0m ×2 + 13.35sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 13.36sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 13.36sINFOvelocity_smootherConfiguring velocity smoother + 13.36sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.37sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 13.37sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 13.37sINFOcontroller_serverActivating + 13.37sINFOlocal_costmap.local_costmapActivating + 13.37sINFOlocal_costmap.local_costmapChecking transform + 13.37sINFOlocal_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. ×3 + 13.55sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.55sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.55sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 13.88sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 13.88sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 13.88sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 13.88sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 13.89sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 13.89sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 13.89sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 13.89sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 13.90sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 13.90sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 13.90sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 13.90sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 13.90sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 13.90sINFOmove_groupStarting planning scene monitor[0m ×2 + 13.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 13.91sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 13.91sINFOmove_groupListening to '/planning_scene'[0m ×2 + 13.91sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 13.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 13.91sINFOmove_groupListening to 'collision_object'[0m ×2 + 13.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 13.92sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 14.19sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 14.20sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.21sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.65sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.65sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.65sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.65sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.65sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.66sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.66sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.66sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.66sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.66sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.66sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.66sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.66sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.66sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.66sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.66sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.69sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.69sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.69sWARNros2_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 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722952 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722952 ms (missed cycles : 3).[0m ×2 + 14.87sINFOlocal_costmap.local_costmapstart + 14.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 14.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 14.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 14.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 14.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 14.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 14.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 14.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.91sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.92sINFOforce_torque_sensor_broadcasterconfigure successful + 14.92sINFOros2_control_nodeconfigure successful[0m ×6 + 14.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 14.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 14.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 14.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.97sWARNcontroller_serverParameter controller_server.verbose not found + 14.97sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 14.98sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.09sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 15.09sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 15.09sINFOsmoother_serverActivating + 15.09sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 15.19sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 15.19sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 15.19sINFOplanner_serverActivating + 15.19sINFOglobal_costmap.global_costmapActivating + 15.19sINFOglobal_costmap.global_costmapChecking transform + 15.19sINFOglobal_costmap.global_costmapstart + 15.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 15.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 15.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 15.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 15.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 15.26sINFOros2-9process has finished cleanly [pid 9589] ×2 + 15.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 15.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 15.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 15.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 15.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 15.34sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 15.34sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 15.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 15.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 15.34sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 15.34sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 15.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 15.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.35sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.35sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 15.37sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.37sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.38sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.38sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 15.38sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 15.38sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 15.40sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 15.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 15.42sINFOobjective_server_node[2026-08-19 20:47:20.540] [moveit_pro_license] [info] ×2 + 15.42sINFOobjective_server_node************************************************* ×4 + 15.42sINFOobjective_server_node* MoveIt Pro License ×2 + 15.42sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.64sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 15.69sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 15.69sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 15.69sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 15.69sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 15.69sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 15.69sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 15.71sINFOros2-11process has finished cleanly [pid 9591] ×2 + 15.76sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 15.76sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 15.76sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 15.76sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 15.77sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 15.77sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 15.77sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 15.77sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031877 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031877 ms (missed cycles : 2).[0m ×2 + 15.84sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.84sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.84sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.88sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.88sINFOobjective_server_nodeLoaded robot model in 0.398532 seconds[0m ×2 + 15.88sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.88sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.02sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 16.02sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 16.02sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 16.05sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 16.05sINFOcomponent_container_mtLoaded robot model in 0.38732 seconds[0m ×2 + 16.05sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.05sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.13sINFOros2-10process has finished cleanly [pid 9590] ×2 + 16.14sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.14sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.14sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.14sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.14sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 16.15sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 16.24sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 16.25sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.25sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 16.25sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 16.25sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.26sINFOplatform_velocity_controllerconfigure successful + 16.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.27sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 16.27sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 16.35sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.35sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.35sINFObehavior_serverActivating + 16.35sINFObehavior_serverActivating spin + 16.35sINFObehavior_serverActivating backup + 16.35sINFObehavior_serverActivating drive_on_heading + 16.35sINFObehavior_serverActivating assisted_teleop + 16.35sINFObehavior_serverActivating wait + 16.35sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.46sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.46sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.46sINFObt_navigatorActivating + 16.48sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.52sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.52sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.56sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.64sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.64sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.64sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.64sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 16.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 16.66sINFOros2-12process has finished cleanly [pid 9592] ×2 + 16.67sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.67sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.67sINFOwaypoint_followerActivating + 16.67sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.74sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.74sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.75sINFOplatform_velocity_controller_nav2configure successful + 16.78sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.78sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.78sINFOvelocity_smootherActivating + 16.78sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.86sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.86sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.89sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.89sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.89sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090906 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090906 ms (missed cycles : 3).[0m ×2 + 17.01sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 17.02sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 17.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 17.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 17.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 17.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 17.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 17.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 17.09sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.09sINFOmove_groupMoveGroup debug mode is ON + 17.09sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.09sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.09sINFOros2-14process has finished cleanly [pid 9594] ×2 + 17.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.15sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.16sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.17sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 17.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 17.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 17.22sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 17.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 17.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 17.22sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 17.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 17.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 17.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 17.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 17.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 17.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 17.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 17.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 17.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 17.45sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.53sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 17.53sINFOmove_group ×8 + 17.53sINFOmove_group******************************************************** ×4 + 17.53sINFOmove_group* MoveGroup using: ×2 + 17.53sINFOmove_group* - apply_planning_scene_service ×2 + 17.53sINFOmove_group* - clear_octomap_service ×2 + 17.53sINFOmove_group* - ExecuteTaskSolution ×2 + 17.53sINFOmove_group* - get_group_urdf ×2 + 17.53sINFOmove_group* - load_geometry_from_file ×2 + 17.53sINFOmove_group* - get_planning_scene_service ×2 + 17.53sINFOmove_group* - kinematics_service ×2 + 17.53sINFOmove_group* - save_geometry_to_file ×2 + 17.53sINFOmove_group* - GetPlanningGroups ×2 + 17.53sINFOmove_group* - SetActiveControllerService ×2 + 17.53sINFOmove_group* - URDFPlanningSceneCapability ×2 + 17.54sINFOmove_group[0m ×2 + 17.54sINFOmove_group[92mYou can start planning now![0m ×2 + 17.60sINFOros2-15process has finished cleanly [pid 9595] ×2 + 17.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 17.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 17.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 17.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 17.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 17.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 17.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.83sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 17.83sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 17.83sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 17.87sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 17.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540684 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540684 ms (missed cycles : 4).[0m ×2 + 18.36sINFOros2_control_node[2026-08-19 20:47:23.484] [info] Controller state will be published at 20 Hz. ×2 + 18.37sINFOros2_control_node[2026-08-19 20:47:23.485] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.74sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.74sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.75sINFOros2-18process has finished cleanly [pid 9616] ×2 + 18.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 18.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 18.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683545 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683545 ms (missed cycles : 3).[0m ×2 + 19.50sINFOros2_control_node[2026-08-19 20:47:24.619] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.50sINFOros2_control_node[2026-08-19 20:47:24.621] [info] Controller state will be published at 10 Hz. ×2 + 19.50sINFOros2_control_node[2026-08-19 20:47:24.623] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.89sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.89sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.89sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.89sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.90sINFOros2-16process has finished cleanly [pid 9607] ×2 + 19.90sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 19.90sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 19.92sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.95sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.95sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.95sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.95sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.96sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677396 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677396 ms (missed cycles : 3).[0m ×2 + 19.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.98sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.98sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.32sINFOros2-13process has finished cleanly [pid 9593] ×2 + 20.34sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.34sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.34sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 20.34sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.34sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.34sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 20.41sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.41sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.41sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.98sINFOros2_control_node[2026-08-19 20:47:26.099] [info] Controller state will be published at 20 Hz. ×2 + 20.98sINFOros2_control_node[2026-08-19 20:47:26.101] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459480 ms (missed cycles : 7). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459480 ms (missed cycles : 7).[0m ×2 + 21.35sINFOros2-19process has finished cleanly [pid 9617] ×2 + 21.36sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.36sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.36sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.36sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf + 21.36sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.37sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gn5_itio --params-file /tmp/launch_params_dme8yjxm --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_dzs67c1f --params-file /tmp/launch_params_sz7uqurf [0m ×2 + 21.42sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 21.42sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 21.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.43sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.95sINFOros2_control_node[2026-08-19 20:47:27.069] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.95sINFOros2_control_node[2026-08-19 20:47:27.071] [info] Controller state will be published at 10 Hz. ×2 + 21.95sINFOros2_control_node[2026-08-19 20:47:27.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450408 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450408 ms (missed cycles : 3).[0m ×2 + 22.32sINFOros2-17process has finished cleanly [pid 9615] ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025717 ms (missed cycles : 2). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025717 ms (missed cycles : 2).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965831 ms (missed cycles : 3). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965831 ms (missed cycles : 3).[0m ×2 + 24.69sINFOros2_control_nodeMuJoCo sim: 3.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250819 ms (missed cycles : 2). + 25.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250819 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664107 ms (missed cycles : 4). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664107 ms (missed cycles : 4).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677548 ms (missed cycles : 5). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677548 ms (missed cycles : 5).[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950340 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950340 ms (missed cycles : 2).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3).[0m ×2 + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773244 ms (missed cycles : 5). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773244 ms (missed cycles : 5).[0m ×2 + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156909 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156909 ms (missed cycles : 2).[0m ×2 + 32.03sWARNobjective_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 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518532 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518532 ms (missed cycles : 3).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614545 ms (missed cycles : 3). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614545 ms (missed cycles : 3).[0m ×2 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744695 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744695 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533291 ms (missed cycles : 3). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533291 ms (missed cycles : 3).[0m ×2 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911274 ms (missed cycles : 8). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911274 ms (missed cycles : 8).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952423 ms (missed cycles : 3). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952423 ms (missed cycles : 3).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000017 ms (missed cycles : 2). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000017 ms (missed cycles : 2).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008572 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008572 ms (missed cycles : 2).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.217697 ms (missed cycles : 8). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.217697 ms (missed cycles : 8).[0m ×2 + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161509 ms (missed cycles : 3). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161509 ms (missed cycles : 3).[0m ×2 + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957778 ms (missed cycles : 3). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957778 ms (missed cycles : 3).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.659100 ms (missed cycles : 7). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.659100 ms (missed cycles : 7).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058109 ms (missed cycles : 2). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058109 ms (missed cycles : 2).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341728 ms (missed cycles : 6). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341728 ms (missed cycles : 6).[0m ×2 + 47.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622020 ms (missed cycles : 4). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622020 ms (missed cycles : 4).[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035142 ms (missed cycles : 4). + 48.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.035142 ms (missed cycles : 4).[0m ×2 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070763 ms (missed cycles : 4). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070763 ms (missed cycles : 4).[0m ×2 + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289702 ms (missed cycles : 5). + 50.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289702 ms (missed cycles : 5).[0m ×2 + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243338 ms (missed cycles : 4). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243338 ms (missed cycles : 4).[0m ×2 + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222842 ms (missed cycles : 6). + 52.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222842 ms (missed cycles : 6).[0m ×2 + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703322 ms (missed cycles : 2). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703322 ms (missed cycles : 2).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.675552 ms (missed cycles : 8). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.675552 ms (missed cycles : 8).[0m ×2 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 58.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 58.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 58.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 58.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 59.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 59.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 59.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 59.24sINFOmove_groupClearing octomap...[0m ×2 + 59.24sINFOmove_groupOctomap cleared.[0m ×2 + 59.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 59.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 59.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 59.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 59.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 60.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 60.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 60.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 61.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 61.17sINFOobjective_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 + 61.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 61.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 61.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 61.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 61.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 61.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 61.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 61.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 61.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 61.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 61.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 61.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 61.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 61.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 61.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 61.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 61.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 61.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 61.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 61.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 61.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 61.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 62.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 7.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 7.51sINFOjoint_trajectory_controllerReceived new action goal + 7.51sINFOjoint_trajectory_controllerAccepted new action goal + 7.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.52sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557119 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[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 | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_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 | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755904 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090768 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150453 ms (missed cycles : 4).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787172484.35458493 seconds. ×3 + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.51sINFOmove_groupClearing octomap...[0m ×2 + 2.51sINFOmove_groupOctomap cleared.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787172484.36486363 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787172484.94584417 seconds. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787172484.95597124 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541560 ms (missed cycles : 6).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787172485.52135587 seconds. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787172485.67216992 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939274 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787172486.26927376 seconds. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787172486.33942771 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787172486.89414692 seconds. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194819 ms (missed cycles : 6).[0m ×2 + 6.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816652 ms (missed cycles : 2).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.48sINFOjoint_trajectory_controllerAccepted new action goal + 6.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||