68
Total objective tests
17
Objectives passed
0
Objectives failed
51
Objectives skipped
23.5s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 30.1s | 10 errors · 94 warnings · 4916 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/2026-08-21-21-56-11-853166-e676d2694a18-9445 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.06sINFOlaunch.usernav2 params (ROS_DISTRO=jazzy): /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/params/nav2_params_jazzy.yaml ×2 + 10.81sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 10.81sINFOstatic_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' + 10.81sINFOstatic_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' + 10.88sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.89sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.90sINFOcontroller_managerupdate rate is 600 Hz + 10.90sINFOcontroller_managerOverruns handling is : enabled + 10.90sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.90sWARNcontroller_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. + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098731 ms (missed cycles : 4). + 11.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 11.10sINFOros2_control_node-8process started with pid [9502] ×2 + 11.11sINFOmove_group-20process started with pid [9591] ×2 + 11.11sINFOparameter_manager_node-21process started with pid [9592] ×2 + 11.11sINFOwaypoint_manager_node-22process started with pid [9593] ×2 + 11.12sINFOmove_joint_resampler_node-23process started with pid [9594] ×2 + 11.12sINFOmove_end_effector_resampler_node-24process started with pid [9652] ×2 + 11.12sINFOobjective_server_node_main-25process started with pid [9653] ×2 + 11.12sINFOcomponent_container_mt-26process started with pid [9654] ×2 + 11.12sINFOcomponent_container_mt-27process started with pid [9655] ×2 + 11.12sINFOexecute_objective_bridge-28process started with pid [9656] ×2 + 11.12sINFOui_teleop_bridge-29process started with pid [9657] ×2 + 11.12sINFOweb_bridge-30process started with pid [9660] ×2 + 11.12sINFOtf2_web_republisher_node-31process started with pid [9661] ×2 + 11.12sINFOweb_video_server-32process started with pid [9662] ×2 + 11.12sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 11.13sINFOcomponent_container_isolated-1process started with pid [9495] ×2 + 11.13sINFOstatic_transform_publisher-2process started with pid [9496] ×2 + 11.13sINFOstatic_transform_publisher-3process started with pid [9497] ×2 + 11.13sINFOstatic_transform_publisher-4process started with pid [9498] ×2 + 11.14sINFOodom_qos_relay.py-5process started with pid [9499] ×2 + 11.14sINFOscan_to_scan_filter_chain-6process started with pid [9500] ×2 + 11.14sINFOscan_to_scan_filter_chain-7process started with pid [9501] ×2 + 11.14sINFOros2-9process started with pid [9580] ×2 + 11.14sINFOros2-10process started with pid [9581] ×2 + 11.14sINFOros2-11process started with pid [9582] ×2 + 11.14sINFOros2-12process started with pid [9583] ×2 + 11.14sINFOros2-13process started with pid [9584] ×2 + 11.14sINFOros2-14process started with pid [9585] ×2 + 11.14sINFOros2-15process started with pid [9586] ×2 + 11.14sINFOros2-16process started with pid [9587] ×2 + 11.14sINFOros2-17process started with pid [9588] ×2 + 11.14sINFOros2-18process started with pid [9589] ×2 + 11.14sINFOros2-19process started with pid [9590] ×2 + 11.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 11.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 11.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 11.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 11.18sINFOmap_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. + 11.18sINFOmap_serverCreating + 11.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 11.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 11.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 11.23sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 11.23sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 11.24sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 11.24sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 11.24sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 11.24sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 11.25sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 11.25sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 11.25sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 11.25sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 11.25sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 11.25sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 11.25sWARNros2_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 + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098731 ms (missed cycles : 4).[0m ×2 + 11.26sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 11.26sINFOcontroller_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. + 11.28sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 11.31sINFOcontroller_serverCreating controller server + 11.32sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 11.32sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 11.34sINFOlocal_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. + 11.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 11.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 11.36sINFOlocal_costmap.local_costmapCreating Costmap + 11.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 11.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 11.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 11.41sINFOlifecycle_manager_localizationCreating + 11.43sINFOcontroller_managerReceived robot description from topic. + 11.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 11.43sINFOrobot_state_publisherRobot initialized + 11.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 11.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.45sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 11.45sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 11.45sINFOcomponent_container_mtRobot initialized[0m ×2 + 11.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 11.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 11.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 11.45sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 11.45sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 11.45sINFOmap_serverConfiguring + 11.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 11.48sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 11.48sINFOsmoother_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. + 11.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 11.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 11.50sINFOsmoother_serverCreating smoother server + 11.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 11.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 11.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 11.54sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 11.54sINFOmap_serverActivating + 11.54sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.54sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 11.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 11.56sINFOplanner_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. + 11.56sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 11.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.60sINFOplanner_serverCreating + 11.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 11.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 11.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 11.64sINFOglobal_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. + 11.65sINFOglobal_costmap.global_costmapCreating Costmap + 11.66sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.66sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.66sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.71sINFObehavior_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. + 11.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.80sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.80sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.80sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 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. + 11.82sWARNlaser_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. + 11.82sWARNlaser_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. + 11.84sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.334429 seconds + 11.84sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.84sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.85sINFObt_navigatorCreating + 11.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.88sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.88sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.88sWARNscan_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 + 11.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.92sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388821 ms (missed cycles : 6). + 11.94sINFOwaypoint_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. + 11.95sINFOwaypoint_followerCreating + 11.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.98sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.99sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 12.00sINFOmove_groupLoaded robot model in 0.334429 seconds[0m ×2 + 12.00sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 12.00sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.388821 ms (missed cycles : 6).[0m ×2 + 12.01sINFOvelocity_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. + 12.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 12.05sINFOlifecycle_manager_navigationCreating + 12.07sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 12.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 12.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 12.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 12.09sINFOcontroller_serverConfiguring controller interface + 12.09sINFOcontroller_servergetting progress checker plugins.. + 12.09sINFOcontroller_servergetting goal checker plugins.. + 12.09sINFOcontroller_serverController frequency set to 20.0000Hz + 12.09sINFOlocal_costmap.local_costmapConfiguring + 12.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 12.12sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 12.17sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 12.17sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 12.18sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 12.23sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 12.23sINFOcontroller_serverController Server has progress_checker progress checkers available. + 12.24sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 12.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 12.26sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 12.26sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.26sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 12.26sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.29sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 12.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 12.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 12.32sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 12.32sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 12.33sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 12.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 12.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 12.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 12.34sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 12.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 12.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 12.35sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 12.35sINFOwaypoint_manager_nodeLoaded robot model in 0.348938 seconds[0m ×2 + 12.35sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 12.35sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 12.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 12.36sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 12.36sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 12.37sINFOcontroller_serverOptimizer reset ×2 + 12.39sINFOcontroller_serverController Server has FollowPath controllers available. + 12.42sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 12.42sINFOsmoother_serverConfiguring smoother server + 12.43sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 12.44sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 12.45sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 12.45sINFOplanner_serverConfiguring + 12.45sINFOglobal_costmap.global_costmapConfiguring + 12.45sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 12.46sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 12.47sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 12.47sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 12.47sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 12.50sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 12.50sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 12.51sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 12.55sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.56sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 12.56sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 12.58sINFOplanner_serverPlanner Server has GridBased planners available. + 12.61sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 12.61sINFObehavior_serverConfiguring + 12.61sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 12.62sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 12.62sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 12.63sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 12.64sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 12.65sINFObehavior_serverConfiguring spin + 12.66sINFObehavior_serverConfiguring backup + 12.68sINFObehavior_serverConfiguring drive_on_heading + 12.69sINFObehavior_serverConfiguring assisted_teleop + 12.70sINFObehavior_serverConfiguring wait + 12.72sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 12.72sINFObt_navigatorConfiguring + 12.75sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 12.76sWARNbt_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 + 13.12sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385139 ms (missed cycles : 6). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385139 ms (missed cycles : 6).[0m ×2 + 13.28sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 13.29sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 13.32sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 13.32sINFOwaypoint_followerConfiguring + 13.36sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 13.37sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 13.37sINFOvelocity_smootherConfiguring velocity smoother + 13.38sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 13.38sINFOcontroller_serverActivating + 13.38sINFOlocal_costmap.local_costmapActivating + 13.38sINFOlocal_costmap.local_costmapChecking transform + 13.38sINFOlocal_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. ×16 + 13.72sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 13.90sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 13.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 13.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 13.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 14.21sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 14.21sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 14.21sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 14.21sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 14.21sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 14.21sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 14.21sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 14.22sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 14.22sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.22sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 14.22sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 14.22sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 14.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 14.23sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 14.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 14.23sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 14.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 14.23sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 14.23sINFOmove_groupStarting planning scene monitor[0m ×2 + 14.24sINFOmove_groupListening to '/planning_scene'[0m ×2 + 14.24sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 14.24sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 14.24sINFOmove_groupListening to 'collision_object'[0m ×2 + 14.25sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 14.25sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675667 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675667 ms (missed cycles : 2).[0m ×2 + 14.81sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 14.81sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 14.81sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 14.82sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 14.82sWARNros2_control_node23 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 14.82sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 14.82sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 14.82sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 14.82sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 14.82sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 14.82sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 14.82sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 14.82sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 14.82sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 14.82sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.82sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 14.82sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 14.82sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 14.82sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 14.82sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 14.82sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 14.82sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 14.82sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 14.82sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 14.82sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 14.82sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 14.82sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 14.82sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 14.82sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 14.82sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 14.82sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 14.82sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 14.82sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 14.82sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 14.82sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 14.82sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 14.82sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 14.82sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 14.82sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 14.82sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 14.85sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.85sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 14.85sWARNros2_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 + 14.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 14.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 14.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 14.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 14.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 14.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 15.02sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 15.02sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.03sINFOforce_torque_sensor_broadcasterconfigure successful + 15.03sINFOros2_control_nodeconfigure successful[0m ×6 + 15.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.04sINFOcontroller_managerSuccessfully switched controllers! ×7 + 15.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 15.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 15.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714973 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714973 ms (missed cycles : 2).[0m ×2 + 15.35sINFOobjective_server_node[2026-08-21 21:56:30.709] [moveit_pro_license] [info] ×2 + 15.35sINFOobjective_server_node************************************************* ×4 + 15.35sINFOobjective_server_node* MoveIt Pro License ×2 + 15.35sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 15.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.36sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 15.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 15.38sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 15.38sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 15.40sINFOros2-9process has finished cleanly [pid 9580] ×2 + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 15.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 15.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 15.47sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 15.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 15.48sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 15.48sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 15.48sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 15.48sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 15.49sINFOplatform_velocity_controller_nav2configure successful + 15.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 15.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 15.72sWARNcomponent_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 + 15.78sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 15.78sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 15.78sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 15.78sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.78sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 15.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.81sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.81sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.81sINFOstreaming_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) + 15.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 15.83sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 15.83sINFOobjective_server_nodeLoaded robot model in 0.387808 seconds[0m ×2 + 15.83sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 15.83sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.83sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.83sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.83sINFOcomponent_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 + 15.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 15.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 15.87sINFOros2-14process has finished cleanly [pid 9585] ×2 + 15.98sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 15.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 16.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 16.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 16.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 16.06sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 16.06sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 16.06sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 16.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 16.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.11sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 16.11sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 16.11sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 16.14sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 16.14sINFOcomponent_container_mtLoaded robot model in 0.397135 seconds[0m ×2 + 16.14sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.14sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.27sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.33sINFOobjective_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 + 16.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.35sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.35sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287571 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287571 ms (missed cycles : 2).[0m ×2 + 16.59sINFOros2_control_node[2026-08-21 21:56:31.946] [info] Controller state will be published at 20 Hz. ×2 + 16.59sINFOros2_control_node[2026-08-21 21:56:31.947] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.90sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.90sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.96sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.96sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.96sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.96sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.98sINFOros2-18process has finished cleanly [pid 9589] ×2 + 17.03sWARNobjective_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 + 17.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 17.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 17.11sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.12sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.12sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 17.12sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 17.12sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 17.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.12sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 17.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.29sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 17.29sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 17.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396565 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396565 ms (missed cycles : 3).[0m ×2 + 17.59sINFOros2_control_node[2026-08-21 21:56:32.941] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.59sINFOros2_control_node[2026-08-21 21:56:32.944] [info] Controller state will be published at 10 Hz. ×2 + 17.59sINFOros2_control_node[2026-08-21 21:56:32.945] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.65sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.65sINFOmove_groupMoveGroup debug mode is ON + 17.65sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.65sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.72sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.72sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 17.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 17.88sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 17.92sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.92sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.93sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.93sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.93sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 17.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 17.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 17.94sINFOros2-17process has finished cleanly [pid 9588] ×2 + 18.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.01sINFOmove_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
********************************************************
+ 18.01sINFOmove_group ×8 + 18.01sINFOmove_group******************************************************** ×4 + 18.01sINFOmove_group* MoveGroup using: ×2 + 18.01sINFOmove_group* - apply_planning_scene_service ×2 + 18.01sINFOmove_group* - clear_octomap_service ×2 + 18.01sINFOmove_group* - ExecuteTaskSolution ×2 + 18.01sINFOmove_group* - get_group_urdf ×2 + 18.01sINFOmove_group* - load_geometry_from_file ×2 + 18.01sINFOmove_group* - get_planning_scene_service ×2 + 18.01sINFOmove_group* - kinematics_service ×2 + 18.01sINFOmove_group* - save_geometry_to_file ×2 + 18.02sINFOmove_group* - GetPlanningGroups ×2 + 18.02sINFOmove_group* - SetActiveControllerService ×2 + 18.02sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.02sINFOmove_group[0m ×2 + 18.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.02sINFOmove_group[92mYou can start planning now![0m ×2 + 18.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 18.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 18.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 18.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 18.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 18.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 18.39sINFOros2-10process has finished cleanly [pid 9581] ×2 + 18.49sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 18.49sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 18.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 18.49sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 18.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 18.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 18.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 18.49sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 18.49sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 18.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 18.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 18.49sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 18.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 18.50sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 18.50sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842761 ms (missed cycles : 5). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842761 ms (missed cycles : 5).[0m ×2 + 18.61sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 18.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 18.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 18.88sINFOros2-15process has finished cleanly [pid 9586] ×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' + 18.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.37sINFOros2_control_node[2026-08-21 21:56:34.723] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.37sINFOros2_control_node[2026-08-21 21:56:34.725] [info] Controller state will be published at 10 Hz. ×2 + 19.37sINFOros2_control_node[2026-08-21 21:56:34.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276945 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276945 ms (missed cycles : 3).[0m ×2 + 19.74sINFOros2-16process has finished cleanly [pid 9587] ×2 + 19.75sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.75sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.75sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 19.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.75sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 19.83sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.83sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.83sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.83sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.83sINFOplatform_velocity_controllerconfigure successful + 19.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.84sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.84sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.19sINFOros2-12process has finished cleanly [pid 9583] ×2 + 20.21sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.21sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.21sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 20.21sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.21sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.22sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 20.28sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.29sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.29sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.29sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618325 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618325 ms (missed cycles : 2).[0m ×2 + 20.77sINFOros2_control_node[2026-08-21 21:56:36.123] [info] Controller state will be published at 20 Hz. ×2 + 20.77sINFOros2_control_node[2026-08-21 21:56:36.124] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 21.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 21.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 21.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 21.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 21.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 21.15sINFOros2-19process has finished cleanly [pid 9590] ×2 + 21.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 21.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 21.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 21.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 21.18sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 21.18sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 21.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 21.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.19sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 21.19sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 21.29sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.38sINFOlocal_costmap.local_costmapstart + 21.48sWARNcontroller_serverParameter controller_server.verbose not found + 21.48sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 21.49sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.981313 ms (missed cycles : 11). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.981313 ms (missed cycles : 11).[0m ×2 + 21.59sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 21.59sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 21.59sINFOsmoother_serverActivating + 21.59sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 21.64sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.64sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.64sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.64sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.64sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru + 21.64sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_nkb8ap7r --params-file /tmp/launch_params__7ibxoo8 --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_o77fr7_p --params-file /tmp/launch_params_cgx2ljru [0m ×2 + 21.66sINFOros2-11process has finished cleanly [pid 9582] ×2 + 21.67sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.67sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.70sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 21.70sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 21.70sINFOplanner_serverActivating + 21.70sINFOglobal_costmap.global_costmapActivating + 21.70sINFOglobal_costmap.global_costmapChecking transform + 21.70sINFOglobal_costmap.global_costmapstart + 21.70sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.70sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.70sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.71sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.71sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.72sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.72sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 21.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 22.07sINFOros2-13process has finished cleanly [pid 9584] ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5).[0m ×2 + 22.75sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.75sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.86sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.86sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.86sINFObehavior_serverActivating + 22.86sINFObehavior_serverActivating spin + 22.86sINFObehavior_serverActivating backup + 22.86sINFObehavior_serverActivating drive_on_heading + 22.86sINFObehavior_serverActivating assisted_teleop + 22.86sINFObehavior_serverActivating wait + 22.86sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.96sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.96sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.96sINFObt_navigatorActivating + 23.03sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 23.13sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 23.13sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 23.13sINFOwaypoint_followerActivating + 23.13sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 23.24sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 23.24sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 23.24sINFOvelocity_smootherActivating + 23.24sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 23.34sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 23.34sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 23.34sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 24.86sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 27.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 27.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 27.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 27.14sINFOmove_groupClearing octomap...[0m ×2 + 27.14sINFOmove_groupOctomap cleared.[0m ×2 + 27.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 27.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 27.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 28.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 28.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 29.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 29.05sINFOobjective_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 + 29.05sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 29.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 29.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 29.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 29.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 29.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 29.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 29.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 29.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 | ||||
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/__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 | 75.7s | 3 errors · 241 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621721 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621721 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942222 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702453 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702453 ms (missed cycles : 3).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214249 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214249 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGot request to cancel goal + 4.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.22sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787349613.20902419 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062801 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062801 ms (missed cycles : 2).[0m ×2 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-0.75, 4.01) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.35sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.94) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787349613.76542401 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.608654 ms (missed cycles : 6). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.608654 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385187 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385187 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_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 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966142 ms (missed cycles : 5). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966142 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287727 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287727 ms (missed cycles : 5).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374177 ms (missed cycles : 4). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374177 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453105 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.453105 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491242 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491242 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106741 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106741 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174167 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174167 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021643 ms (missed cycles : 5). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021643 ms (missed cycles : 5).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474254 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474254 ms (missed cycles : 3).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496102 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496102 ms (missed cycles : 3).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509814 ms (missed cycles : 4). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509814 ms (missed cycles : 4).[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733427 ms (missed cycles : 2). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733427 ms (missed cycles : 2).[0m ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334359 ms (missed cycles : 4). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334359 ms (missed cycles : 4).[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.884536 ms (missed cycles : 7). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.884536 ms (missed cycles : 7).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799923 ms (missed cycles : 3). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799923 ms (missed cycles : 3).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159479 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159479 ms (missed cycles : 2).[0m ×2 + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366047 ms (missed cycles : 3). + 24.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366047 ms (missed cycles : 3).[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630911 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630911 ms (missed cycles : 3).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266546 ms (missed cycles : 4). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266546 ms (missed cycles : 4).[0m ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274622 ms (missed cycles : 4). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274622 ms (missed cycles : 4).[0m ×2 + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081694 ms (missed cycles : 4). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081694 ms (missed cycles : 4).[0m ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272444 ms (missed cycles : 4). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272444 ms (missed cycles : 4).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.650938 ms (missed cycles : 6). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.650938 ms (missed cycles : 6).[0m ×2 + 31.24sINFOros2_control_nodeMuJoCo sim: 5.26% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125005 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125005 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694869 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694869 ms (missed cycles : 2).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391960 ms (missed cycles : 4). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391960 ms (missed cycles : 4).[0m ×2 + 34.40sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.40sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892586 ms (missed cycles : 3).[0m ×2 + 35.82sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505375 ms (missed cycles : 2). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505375 ms (missed cycles : 2).[0m ×2 + 37.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368458 ms (missed cycles : 4). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368458 ms (missed cycles : 4).[0m ×2 + 38.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949140 ms (missed cycles : 2). + 38.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949140 ms (missed cycles : 2).[0m ×2 + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785930 ms (missed cycles : 2). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785930 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180146 ms (missed cycles : 4). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180146 ms (missed cycles : 4).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001798 ms (missed cycles : 4). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001798 ms (missed cycles : 4).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305832 ms (missed cycles : 4). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305832 ms (missed cycles : 4).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187380 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187380 ms (missed cycles : 2).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903690 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903690 ms (missed cycles : 2).[0m ×2 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593942 ms (missed cycles : 3). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593942 ms (missed cycles : 3).[0m ×2 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231353 ms (missed cycles : 4). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231353 ms (missed cycles : 4).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656746 ms (missed cycles : 3). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656746 ms (missed cycles : 3).[0m ×2 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874047 ms (missed cycles : 5). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.874047 ms (missed cycles : 5).[0m ×2 + 49.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713043 ms (missed cycles : 3). + 49.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713043 ms (missed cycles : 3).[0m ×2 + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776242 ms (missed cycles : 3). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776242 ms (missed cycles : 3).[0m ×2 + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542895 ms (missed cycles : 3). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542895 ms (missed cycles : 3).[0m ×2 + 52.29sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 52.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012822 ms (missed cycles : 2). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012822 ms (missed cycles : 2).[0m ×2 + 53.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026442 ms (missed cycles : 2). + 53.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026442 ms (missed cycles : 2).[0m ×2 + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512268 ms (missed cycles : 4). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512268 ms (missed cycles : 4).[0m ×2 + 55.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948536 ms (missed cycles : 3). + 55.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948536 ms (missed cycles : 3).[0m ×2 + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.321636 ms (missed cycles : 7). + 56.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.321636 ms (missed cycles : 7).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603824 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603824 ms (missed cycles : 3).[0m ×2 + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887973 ms (missed cycles : 2). + 59.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887973 ms (missed cycles : 2).[0m ×2 + 60.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373468 ms (missed cycles : 3). + 60.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373468 ms (missed cycles : 3).[0m ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927798 ms (missed cycles : 3). + 61.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927798 ms (missed cycles : 3).[0m ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541069 ms (missed cycles : 2). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541069 ms (missed cycles : 2).[0m ×2 + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678186 ms (missed cycles : 6). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678186 ms (missed cycles : 6).[0m ×2 + 64.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472198 ms (missed cycles : 3). + 64.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472198 ms (missed cycles : 3).[0m ×2 + 65.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408735 ms (missed cycles : 3). + 65.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408735 ms (missed cycles : 3).[0m ×2 + 66.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308245 ms (missed cycles : 7). + 66.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308245 ms (missed cycles : 7).[0m ×2 + 66.63sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 67.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729612 ms (missed cycles : 3). + 67.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729612 ms (missed cycles : 3).[0m ×2 + 68.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573448 ms (missed cycles : 3). + 68.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573448 ms (missed cycles : 3).[0m ×2 + 69.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772632 ms (missed cycles : 3). + 69.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772632 ms (missed cycles : 3).[0m ×2 + 70.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959514 ms (missed cycles : 3). + 70.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959514 ms (missed cycles : 3).[0m ×2 + 71.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299264 ms (missed cycles : 4). + 71.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299264 ms (missed cycles : 4).[0m ×2 + 72.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318494 ms (missed cycles : 2). + 72.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318494 ms (missed cycles : 2).[0m ×2 + 73.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.288722 ms (missed cycles : 7). + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.288722 ms (missed cycles : 7).[0m ×2 + 75.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387809 ms (missed cycles : 4). + 75.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387809 ms (missed cycles : 4).[0m ×2 + 76.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 76.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 77.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 77.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 78.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 78.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 79.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 79.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 79.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 80.05sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 80.05sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 80.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 80.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 80.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 81.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 81.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 81.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 82.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 82.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.6s | 185 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.85sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.85sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.85sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.85sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787349451.98296285 seconds ×3 + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787349452.54239392 seconds. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165150 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.165150 ms (missed cycles : 4).[0m ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162532 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162532 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813978 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813978 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852866 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852866 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.629485 ms (missed cycles : 6). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.629485 ms (missed cycles : 6).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442948 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442948 ms (missed cycles : 3).[0m ×2 + 12.19sINFOros2_control_nodeMuJoCo sim: 2.38% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915693 ms (missed cycles : 5). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915693 ms (missed cycles : 5).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287427 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287427 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985367 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985367 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351163 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351163 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041721 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041721 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933256 ms (missed cycles : 6). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933256 ms (missed cycles : 6).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616927 ms (missed cycles : 4). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.616927 ms (missed cycles : 4).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178713 ms (missed cycles : 4). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178713 ms (missed cycles : 4).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903853 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903853 ms (missed cycles : 3).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684151 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684151 ms (missed cycles : 2).[0m ×2 + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390438 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390438 ms (missed cycles : 2).[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434673 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434673 ms (missed cycles : 2).[0m ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488690 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488690 ms (missed cycles : 2).[0m ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583763 ms (missed cycles : 6). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.583763 ms (missed cycles : 6).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634005 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634005 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863207 ms (missed cycles : 5). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.863207 ms (missed cycles : 5).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908192 ms (missed cycles : 4). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908192 ms (missed cycles : 4).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999558 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999558 ms (missed cycles : 2).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992457 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992457 ms (missed cycles : 2).[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939734 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939734 ms (missed cycles : 2).[0m ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361361 ms (missed cycles : 4). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361361 ms (missed cycles : 4).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363691 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363691 ms (missed cycles : 3).[0m ×2 + 35.96sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.710731 ms (missed cycles : 5). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.710731 ms (missed cycles : 5).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294931 ms (missed cycles : 4). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294931 ms (missed cycles : 4).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001326 ms (missed cycles : 2). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001326 ms (missed cycles : 2).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341945 ms (missed cycles : 3). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341945 ms (missed cycles : 3).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831793 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831793 ms (missed cycles : 3).[0m ×2 + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125978 ms (missed cycles : 3). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125978 ms (missed cycles : 3).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.989213 ms (missed cycles : 8). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.989213 ms (missed cycles : 8).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010822 ms (missed cycles : 4). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010822 ms (missed cycles : 4).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496468 ms (missed cycles : 4). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.496468 ms (missed cycles : 4).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888453 ms (missed cycles : 2). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888453 ms (missed cycles : 2).[0m ×2 + 46.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909471 ms (missed cycles : 3). + 46.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909471 ms (missed cycles : 3).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983332 ms (missed cycles : 3).[0m ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538242 ms (missed cycles : 3). + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538242 ms (missed cycles : 3).[0m ×2 + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827366 ms (missed cycles : 2). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827366 ms (missed cycles : 2).[0m ×2 + 50.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.557181 ms (missed cycles : 6). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.557181 ms (missed cycles : 6).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173393 ms (missed cycles : 3). + 51.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173393 ms (missed cycles : 3).[0m ×2 + 52.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854638 ms (missed cycles : 3). + 52.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854638 ms (missed cycles : 3).[0m ×2 + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538483 ms (missed cycles : 3). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538483 ms (missed cycles : 3).[0m ×2 + 54.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.488215 ms (missed cycles : 7). + 54.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.488215 ms (missed cycles : 7).[0m ×2 + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908617 ms (missed cycles : 2). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908617 ms (missed cycles : 2).[0m ×2 + 56.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335163 ms (missed cycles : 5). + 56.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335163 ms (missed cycles : 5).[0m ×2 + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 58.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 58.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 59.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 61.57sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.71sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 62.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 62.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 62.55sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 62.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 63.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.0s | 184 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.89sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.02sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354151 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354151 ms (missed cycles : 4).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039707 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039707 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966412 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966412 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730541 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730541 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759852 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759852 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140188 ms (missed cycles : 5). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140188 ms (missed cycles : 5).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276727 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276727 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396056 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396056 ms (missed cycles : 2).[0m ×2 + 15.24sINFOros2_control_nodeMuJoCo sim: 6.24% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256073 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256073 ms (missed cycles : 2).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415610 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415610 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223009 ms (missed cycles : 7). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223009 ms (missed cycles : 7).[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.922217 ms (missed cycles : 8). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.922217 ms (missed cycles : 8).[0m ×2 + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523139 ms (missed cycles : 3). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523139 ms (missed cycles : 3).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360662 ms (missed cycles : 4). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360662 ms (missed cycles : 4).[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507657 ms (missed cycles : 4). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507657 ms (missed cycles : 4).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326218 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326218 ms (missed cycles : 3).[0m ×2 + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530832 ms (missed cycles : 6). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.530832 ms (missed cycles : 6).[0m ×2 + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370341 ms (missed cycles : 4). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370341 ms (missed cycles : 4).[0m ×2 + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219478 ms (missed cycles : 2). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219478 ms (missed cycles : 2).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374553 ms (missed cycles : 4). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374553 ms (missed cycles : 4).[0m ×2 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011689 ms (missed cycles : 5). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011689 ms (missed cycles : 5).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882791 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882791 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849812 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849812 ms (missed cycles : 2).[0m ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657559 ms (missed cycles : 5). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657559 ms (missed cycles : 5).[0m ×2 + 32.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614319 ms (missed cycles : 3). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614319 ms (missed cycles : 3).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892357 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892357 ms (missed cycles : 2).[0m ×2 + 34.25sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.241503 ms (missed cycles : 10). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.241503 ms (missed cycles : 10).[0m ×2 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851588 ms (missed cycles : 2). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851588 ms (missed cycles : 2).[0m ×2 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.362921 ms (missed cycles : 7). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.362921 ms (missed cycles : 7).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969056 ms (missed cycles : 5). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969056 ms (missed cycles : 5).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757436 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757436 ms (missed cycles : 3).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639520 ms (missed cycles : 3). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639520 ms (missed cycles : 3).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988811 ms (missed cycles : 5). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.988811 ms (missed cycles : 5).[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378424 ms (missed cycles : 3). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378424 ms (missed cycles : 3).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075996 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075996 ms (missed cycles : 2).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644643 ms (missed cycles : 3). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644643 ms (missed cycles : 3).[0m ×2 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602514 ms (missed cycles : 3). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602514 ms (missed cycles : 3).[0m ×2 + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009074 ms (missed cycles : 7). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009074 ms (missed cycles : 7).[0m ×2 + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284551 ms (missed cycles : 4). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284551 ms (missed cycles : 4).[0m ×2 + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379024 ms (missed cycles : 2). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379024 ms (missed cycles : 2).[0m ×2 + 49.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832690 ms (missed cycles : 5). + 49.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832690 ms (missed cycles : 5).[0m ×2 + 50.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285072 ms (missed cycles : 4). + 50.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285072 ms (missed cycles : 4).[0m ×2 + 51.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442307 ms (missed cycles : 5). + 51.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442307 ms (missed cycles : 5).[0m ×2 + 52.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.368508 ms (missed cycles : 7). + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.368508 ms (missed cycles : 7).[0m ×2 + 53.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440108 ms (missed cycles : 2). + 53.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440108 ms (missed cycles : 2).[0m ×2 + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128547 ms (missed cycles : 2). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128547 ms (missed cycles : 2).[0m ×2 + 55.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102401 ms (missed cycles : 2). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102401 ms (missed cycles : 2).[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961390 ms (missed cycles : 3). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961390 ms (missed cycles : 3).[0m ×2 + 57.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676342 ms (missed cycles : 2). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676342 ms (missed cycles : 2).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218894 ms (missed cycles : 4). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218894 ms (missed cycles : 4).[0m ×2 + 59.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787349744.92108703 seconds ×3 + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327335 ms (missed cycles : 2). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327335 ms (missed cycles : 2).[0m ×2 + 60.04sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 60.04sWARNlocal_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. + 60.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787349745.49319386 seconds. ×3 + 60.90sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 60.93sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697098 ms (missed cycles : 6). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697098 ms (missed cycles : 6).[0m ×2 + 62.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.224767 ms (missed cycles : 7). + 62.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.224767 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.3s | 183 warnings · 67 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.39sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787349546.83864927 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.49sWARNlocal_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. + 4.49sWARNlocal_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. + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787349547.41049457 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2).[0m ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834417 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834417 ms (missed cycles : 4).[0m ×2 + 7.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206094 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206094 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685427 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685427 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297100 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297100 ms (missed cycles : 4).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285034 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285034 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610034 ms (missed cycles : 4). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610034 ms (missed cycles : 4).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284594 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284594 ms (missed cycles : 4).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100180 ms (missed cycles : 6). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.100180 ms (missed cycles : 6).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102311 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102311 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845832 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845832 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629784 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629784 ms (missed cycles : 3).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621974 ms (missed cycles : 3). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621974 ms (missed cycles : 3).[0m ×2 + 20.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653739 ms (missed cycles : 4). + 20.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653739 ms (missed cycles : 4).[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.688953 ms (missed cycles : 6). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.688953 ms (missed cycles : 6).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856765 ms (missed cycles : 6). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856765 ms (missed cycles : 6).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964769 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964769 ms (missed cycles : 2).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825737 ms (missed cycles : 2). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825737 ms (missed cycles : 2).[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880393 ms (missed cycles : 3). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880393 ms (missed cycles : 3).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108495 ms (missed cycles : 2). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108495 ms (missed cycles : 2).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708362 ms (missed cycles : 5). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708362 ms (missed cycles : 5).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735717 ms (missed cycles : 5). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735717 ms (missed cycles : 5).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271774 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271774 ms (missed cycles : 2).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.846152 ms (missed cycles : 8). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.846152 ms (missed cycles : 8).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334003 ms (missed cycles : 4). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334003 ms (missed cycles : 4).[0m ×2 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214625 ms (missed cycles : 7). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.214625 ms (missed cycles : 7).[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207108 ms (missed cycles : 4). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207108 ms (missed cycles : 4).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946541 ms (missed cycles : 5). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946541 ms (missed cycles : 5).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497187 ms (missed cycles : 3). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497187 ms (missed cycles : 3).[0m ×2 + 36.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333754 ms (missed cycles : 2). + 36.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333754 ms (missed cycles : 2).[0m ×2 + 37.53sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 37.78sINFOros2_control_nodeMuJoCo sim: 4.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462104 ms (missed cycles : 3). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462104 ms (missed cycles : 3).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.787889 ms (missed cycles : 6). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.787889 ms (missed cycles : 6).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887898 ms (missed cycles : 4). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887898 ms (missed cycles : 4).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969414 ms (missed cycles : 5). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969414 ms (missed cycles : 5).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740067 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740067 ms (missed cycles : 2).[0m ×2 + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353142 ms (missed cycles : 3). + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353142 ms (missed cycles : 3).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409335 ms (missed cycles : 2). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409335 ms (missed cycles : 2).[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589000 ms (missed cycles : 2). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589000 ms (missed cycles : 2).[0m ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731922 ms (missed cycles : 2). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731922 ms (missed cycles : 2).[0m ×2 + 47.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349061 ms (missed cycles : 2). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349061 ms (missed cycles : 2).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179040 ms (missed cycles : 2). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179040 ms (missed cycles : 2).[0m ×2 + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975444 ms (missed cycles : 4). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975444 ms (missed cycles : 4).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785358 ms (missed cycles : 2). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785358 ms (missed cycles : 2).[0m ×2 + 51.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001335 ms (missed cycles : 3). + 51.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001335 ms (missed cycles : 3).[0m ×2 + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607029 ms (missed cycles : 3). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607029 ms (missed cycles : 3).[0m ×2 + 53.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075982 ms (missed cycles : 4). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075982 ms (missed cycles : 4).[0m ×2 + 54.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911366 ms (missed cycles : 2). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911366 ms (missed cycles : 2).[0m ×2 + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533386 ms (missed cycles : 3). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533386 ms (missed cycles : 3).[0m ×2 + 56.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883024 ms (missed cycles : 5). + 56.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883024 ms (missed cycles : 5).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709537 ms (missed cycles : 3). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709537 ms (missed cycles : 3).[0m ×2 + 59.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493623 ms (missed cycles : 7). + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493623 ms (missed cycles : 7).[0m ×2 + 59.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787349602.15361309 seconds ×3 + 59.79sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.70) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.79sWARNlocal_costmap.local_costmapSensor origin at (-2.55, 11.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.89sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 6.36) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 59.89sWARNlocal_costmap.local_costmapSensor origin at (-1.74, 6.69) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862671 ms (missed cycles : 4). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862671 ms (missed cycles : 4).[0m ×2 + 60.27sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787349602.71706748 seconds. ×3 + 60.72sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619512 ms (missed cycles : 4). + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619512 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 144 warnings · 141 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.29sINFOmove_groupClearing octomap...[0m ×2 + 2.29sINFOmove_groupOctomap cleared.[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.19sINFOobjective_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 + 4.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636674 ms (missed cycles : 6). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.636674 ms (missed cycles : 6).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207820 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207820 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275315 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.275315 ms (missed cycles : 4).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467409 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467409 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277331 ms (missed cycles : 4). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277331 ms (missed cycles : 4).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571271 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571271 ms (missed cycles : 2).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780430 ms (missed cycles : 5). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780430 ms (missed cycles : 5).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194046 ms (missed cycles : 4). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194046 ms (missed cycles : 4).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642888 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642888 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236204 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236204 ms (missed cycles : 2).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.239474 ms (missed cycles : 6). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.239474 ms (missed cycles : 6).[0m ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852019 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852019 ms (missed cycles : 3).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725646 ms (missed cycles : 5). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725646 ms (missed cycles : 5).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586138 ms (missed cycles : 4). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586138 ms (missed cycles : 4).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071023 ms (missed cycles : 4). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071023 ms (missed cycles : 4).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672522 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672522 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918893 ms (missed cycles : 6). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.918893 ms (missed cycles : 6).[0m ×2 + 25.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.292861 ms (missed cycles : 8). + 25.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.292861 ms (missed cycles : 8).[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469389 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469389 ms (missed cycles : 3).[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323758 ms (missed cycles : 2). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323758 ms (missed cycles : 2).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259600 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259600 ms (missed cycles : 2).[0m ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198999 ms (missed cycles : 5). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198999 ms (missed cycles : 5).[0m ×2 + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135090 ms (missed cycles : 2). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135090 ms (missed cycles : 2).[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810956 ms (missed cycles : 8). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.810956 ms (missed cycles : 8).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762549 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762549 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396978 ms (missed cycles : 6). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.396978 ms (missed cycles : 6).[0m ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687965 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717223 ms (missed cycles : 2). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717223 ms (missed cycles : 2).[0m ×2 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415607 ms (missed cycles : 3). + 36.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415607 ms (missed cycles : 3).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233675 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233675 ms (missed cycles : 4).[0m ×2 + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367993 ms (missed cycles : 2). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367993 ms (missed cycles : 2).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228556 ms (missed cycles : 4). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228556 ms (missed cycles : 4).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540961 ms (missed cycles : 2). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540961 ms (missed cycles : 2).[0m ×2 + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120746 ms (missed cycles : 4). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120746 ms (missed cycles : 4).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442372 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442372 ms (missed cycles : 2).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536811 ms (missed cycles : 3). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536811 ms (missed cycles : 3).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2).[0m ×2 + 47.81sINFOjoint_trajectory_controllerGoal reached, success! + 47.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 48.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 49.62sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 49.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 113 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135443 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135443 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598777 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598777 ms (missed cycles : 3).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.03sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787349514.26816678 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827589 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827589 ms (missed cycles : 2).[0m ×2 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868514 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868514 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787349515.83850598 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668179 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668179 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404889 ms (missed cycles : 5). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404889 ms (missed cycles : 5).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.848804 ms (missed cycles : 7). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.848804 ms (missed cycles : 7).[0m ×2 + 7.22sINFOjoint_trajectory_controllerReceived new action goal + 7.22sINFOjoint_trajectory_controllerAccepted new action goal + 7.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404973 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404973 ms (missed cycles : 3).[0m ×2 + 9.01sINFOros2_control_nodeMuJoCo sim: 4.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957898 ms (missed cycles : 5). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957898 ms (missed cycles : 5).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137834 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137834 ms (missed cycles : 4).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279965 ms (missed cycles : 4). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279965 ms (missed cycles : 4).[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.162233 ms (missed cycles : 5). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.162233 ms (missed cycles : 5).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906169 ms (missed cycles : 4). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906169 ms (missed cycles : 4).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123042 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123042 ms (missed cycles : 5).[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963415 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963415 ms (missed cycles : 3).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046649 ms (missed cycles : 4). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.046649 ms (missed cycles : 4).[0m ×2 + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772385 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772385 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326474 ms (missed cycles : 2). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326474 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921091 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921091 ms (missed cycles : 2).[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.162808 ms (missed cycles : 7). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.162808 ms (missed cycles : 7).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466455 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466455 ms (missed cycles : 2).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936356 ms (missed cycles : 5). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936356 ms (missed cycles : 5).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787481 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787481 ms (missed cycles : 2).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239799 ms (missed cycles : 4). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239799 ms (missed cycles : 4).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931535 ms (missed cycles : 5). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.931535 ms (missed cycles : 5).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499395 ms (missed cycles : 3). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499395 ms (missed cycles : 3).[0m ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800565 ms (missed cycles : 5). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800565 ms (missed cycles : 5).[0m ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909830 ms (missed cycles : 5). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909830 ms (missed cycles : 5).[0m ×2 + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677321 ms (missed cycles : 2). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677321 ms (missed cycles : 2).[0m ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3).[0m ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6).[0m ×2 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2).[0m ×2 + 35.62sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787349546.83864927 seconds ×3 + 35.72sWARNlocal_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. + 35.72sWARNlocal_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. + 36.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787349547.41049457 seconds. ×3 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7).[0m ×2 + 36.60sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.5s | 62 warnings · 113 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102401 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961390 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961390 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676342 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676342 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218894 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.218894 ms (missed cycles : 4).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787349744.92108703 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327335 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327335 ms (missed cycles : 2).[0m ×2 + 4.23sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.23sWARNlocal_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. + 4.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787349745.49319386 seconds. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697098 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697098 ms (missed cycles : 6).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.224767 ms (missed cycles : 7). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.224767 ms (missed cycles : 7).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755037 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755037 ms (missed cycles : 3).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576040 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576040 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366220 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366220 ms (missed cycles : 2).[0m ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (4.94e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (1.524e-06 s). ×2 + 10.27sINFOobjective_server_nodeFound path in 69 iterations (0.0633937 s). ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390401 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390401 ms (missed cycles : 4).[0m ×2 + 10.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 11.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569562 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569562 ms (missed cycles : 4).[0m ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.62sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346957 ms (missed cycles : 4). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346957 ms (missed cycles : 4).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2).[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3).[0m ×2 + 17.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787349758.44212174 seconds ×3 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3).[0m ×2 + 18.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787349759.05569029 seconds. ×3 + 18.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.26sINFOmove_groupClearing octomap...[0m ×2 + 18.26sINFOmove_groupOctomap cleared.[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3).[0m ×2 + 18.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787349759.73593831 seconds ×3 + 19.44sINFOros2_control_nodeMuJoCo sim: 6.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787349760.29455638 seconds. ×3 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3).[0m ×2 + 20.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787349760.88469982 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 93 errors · 36 warnings · 432 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3).[0m ×2 + 3.03sINFOjoint_trajectory_controllerGoal reached, success! + 3.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787349758.44212174 seconds ×3 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787349759.05569029 seconds. ×3 + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.70sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787349759.73593831 seconds ×3 + 4.88sINFOros2_control_nodeMuJoCo sim: 6.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787349760.29455638 seconds. ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787349760.88469982 seconds ×3 + 5.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458522 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458522 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331956 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331956 ms (missed cycles : 4).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047482 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047482 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780978 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780978 ms (missed cycles : 2).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612574 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612574 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224730 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224730 ms (missed cycles : 2).[0m ×2 + 11.77sERRORweb_video_server-32process[web_video_server-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORtf2_web_republisher_node-31process[tf2_web_republisher_node-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORweb_bridge-30process[web_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORui_teleop_bridge-29process[ui_teleop_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORexecute_objective_bridge-28process[execute_objective_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.81sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.81sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.81sINFOweb_video_server-32sending signal 'SIGTERM' to process[web_video_server-32] ×2 + 11.84sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.85sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.85sINFOtf2_web_republisher_node-31sending signal 'SIGTERM' to process[tf2_web_republisher_node-31] ×2 + 11.88sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sINFOweb_bridge-30sending signal 'SIGTERM' to process[web_bridge-30] ×2 + 11.92sINFOui_teleop_bridge-29sending signal 'SIGTERM' to process[ui_teleop_bridge-29] ×2 + 11.94sINFOexecute_objective_bridge-28sending signal 'SIGTERM' to process[execute_objective_bridge-28] ×2 + 11.96sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.99sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 12.01sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 12.03sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 12.07sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 12.09sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 12.11sINFOweb_video_server-32process has finished cleanly [pid 9662] ×2 + 12.12sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 12.14sINFOtf2_web_republisher_node-31process has finished cleanly [pid 9661] ×2 + 12.15sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 12.17sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.18sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 12.18sINFOcontroller_managerShutdown request received.... + 12.18sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.18sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.18sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.18sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.18sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.18sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.18sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.18sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.18sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.18sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.18sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.18sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.18sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.18sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.18sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.18sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.18sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.19sINFOcontroller_managerShutting down the controller manager. + 12.20sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.21sERRORmove_group-20process has died [pid 9591, 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_uq2nuvma --params-file /tmp/launch_params_09rxsvgt --params-file /tmp/launch_params_qmx88ynm --params-file /tmp/launch_params_bottekm4 --params-file /tmp/launch_params_fbwrx7tr --params-file /tmp/launch_params_x6cemnyz --params-file /tmp/launch_params_v5zvmj67 --params-file /tmp/launch_params_e3xg6ndq --params-file /tmp/launch_params_xirt4nqk']. ×2 + 12.22sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 12.23sERRORui_teleop_bridge-29process has died [pid 9657, 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_ljund8fe']. ×2 + 12.23sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787349767.295 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.24sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.25sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.25sINFOcomponent_container_mt-27process has finished cleanly [pid 9655] ×2 + 12.26sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.28sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.29sERRORobjective_server_node_main-25process has died [pid 9653, 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_biypqw09 --params-file /tmp/launch_params_52enyi6r --params-file /tmp/launch_params_fyskwbmt --params-file /tmp/launch_params_gq6yirmw --params-file /tmp/launch_params_1cefkhw8 --params-file /tmp/launch_params_utcors0v']. ×2 + 12.30sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 12.31sINFOexecute_objective_bridge-28process has finished cleanly [pid 9656] ×2 + 12.32sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.32sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.32sINFOmap_serverDeactivating + 12.32sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.32sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.32sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 12.32sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 12.32sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.1', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 12.32sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.32sINFOui_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 + 12.33sINFOui_teleop_bridgerclpy.shutdown() ×2 + 12.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 12.33sINFOui_teleop_bridge_shutdown(context=context) ×2 + 12.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 12.33sINFOui_teleop_bridgecontext.shutdown() ×2 + 12.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 12.33sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 12.33sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 12.33sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.33sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.33sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOlaunchprocess[tf2_web_republisher_node-31] was required: shutting down launched system ×2 + 12.33sINFOmap_serverCleaning up + 12.33sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.33sINFOcontroller_serverDeactivating + 12.33sINFOlocal_costmap.local_costmapDeactivating + 12.33sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.33sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.33sERRORmove_groupStack trace (most recent call last) in thread 10192: ×2 + 12.33sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.33sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f23af9f9a63, in __clone ×2 + 12.33sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f23af96caa3, in ×2 + 12.33sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f23afbfcdb3, in ×2 + 12.33sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.1", at 0x7f23b02531a7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.33sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f23aff714d0, in rclcpp::Rate::sleep() ×2 + 12.34sINFOobjective_server_node[2026-08-21 22:02:47.520] [moveit_pro_license] [critical] ×2 + 12.34sINFOobjective_server_node************************************************* ×4 + 12.34sINFOobjective_server_node* MoveIt Pro License ×2 + 12.34sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f23afec4a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f23afe89a71, in ×2 + 12.34sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f23afbcb390, in __cxa_throw ×2 + 12.34sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f23afbb5a54, in std::terminate() ×2 + 12.34sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f23afbcb0d9, in ×2 + 12.34sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f23afbb5ff4, in ×2 + 12.34sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f23af8f88fe, in abort ×2 + 12.34sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f23af91527d, in raise ×2 + 12.34sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f23af96eb2c, in pthread_kill ×2 + 12.34sERRORmove_groupAborted (Signal sent by tkill() 9591 0) ×2 + 12.34sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.34sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.34sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.34sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.34sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.34sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.34sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.34sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.34sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.34sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.34sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.34sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 12.34sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.34sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece810d6a4, in _start ×2 + 12.34sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a9f6a128a, in __libc_start_main ×2 + 12.34sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a9f6a11d0, in ×2 + 12.34sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a9f6bebbd, in exit ×2 + 12.34sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a9f6bea75, in ×2 + 12.34sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7f9a9fb8d8f5, in spdlog::details::registry::~registry() ×2 + 12.34sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece810dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.34sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece8114315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 12.34sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece81135a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 12.34sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece810fb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 12.34sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ece810dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 12.34sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa024b454, in rclcpp::Node::~Node() ×2 + 12.34sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa0206515, in ×2 + 12.34sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa0249d20, in ×2 + 12.34sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa0249c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 12.34sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa02065d9, in ×2 + 12.34sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9aa020b161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 12.34sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f9a577edbb0]) ×2 + 12.35sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.35sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.35sINFOodom_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 + 12.35sINFOodom_qos_relay.pymain() ×2 + 12.35sINFOodom_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 + 12.35sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.35sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.35sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.35sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.35sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.35sINFOodom_qos_relay.pywait_set = _rclpy.WaitSet( ×2 + 12.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^ ×2 + 12.35sINFOodom_qos_relay.pyrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 12.35sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 12.35sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 12.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 12.37sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.38sINFOcontroller_serverCleaning up + 12.38sINFOlocal_costmap.local_costmapCleaning up + 12.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.40sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.40sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 12.43sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.43sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.44sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.44sINFOsmoother_serverDeactivating + 12.44sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.45sINFOsmoother_serverCleaning up + 12.46sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.46sINFOplanner_serverDeactivating + 12.46sINFOglobal_costmap.global_costmapDeactivating + 12.54sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.54sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.54sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.54sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.54sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.54sINFOvelocity_smootherDeactivating + 12.54sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.65sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.65sINFOwaypoint_followerDeactivating + 12.65sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.69sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.69sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.70sINFOplanner_serverCleaning up + 12.72sINFOglobal_costmap.global_costmapCleaning up + 12.73sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.73sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.76sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.76sINFObehavior_serverDeactivating + 12.76sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.76sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.76sINFObt_navigatorDeactivating + 12.76sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.77sINFObehavior_serverCleaning up + 12.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.78sINFOwaypoint_followerCleaning up + 12.79sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.79sINFOvelocity_smootherCleaning up + 12.79sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.88sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.88sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.88sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.88sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.88sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.89sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.89sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.90sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.90sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.90sINFObt_navigatorCleaning up + 13.08sINFObt_navigatorCompleted Cleaning up + 13.08sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.08sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.09sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.09sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.09sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.09sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.09sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.09sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.09sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.10sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9652] ×2 + 13.12sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9594] ×2 + 13.19sINFOparameter_manager_node-21process has finished cleanly [pid 9592] ×2 + 13.20sINFOwaypoint_manager_node-22process has finished cleanly [pid 9593] ×2 + 13.22sINFOcomponent_container_mt-26process has finished cleanly [pid 9654] ×2 + 13.25sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9501] ×2 + 13.27sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9500] ×2 + 13.31sINFOstatic_transform_publisher-4process has finished cleanly [pid 9498] ×2 + 13.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 9497] ×2 + 13.34sINFOstatic_transform_publisher-2process has finished cleanly [pid 9496] ×2 + 13.35sERRORodom_qos_relay.py-5process has died [pid 9499, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.40sERRORcomponent_container_isolated-1process has died [pid 9495, 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_3gn6ioto --params-file /tmp/launch_params_3rz7z13a -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.75sINFOweb_bridge-30process has finished cleanly [pid 9660] ×2 + 14.75sINFOlaunchprocess[web_bridge-30] was required: shutting down launched system ×2 + 14.92sINFOros2_control_node-8process has finished cleanly [pid 9502] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 3 errors · 57 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533386 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533386 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883024 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883024 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709537 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709537 ms (missed cycles : 3).[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493623 ms (missed cycles : 7). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493623 ms (missed cycles : 7).[0m ×2 + 3.83sINFOjoint_trajectory_controllerGoal reached, success! + 3.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787349602.15361309 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.70) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.97sWARNlocal_costmap.local_costmapSensor origin at (-2.55, 11.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.07sWARNlocal_costmap.local_costmapSensor origin at (-0.91, 6.36) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.07sWARNlocal_costmap.local_costmapSensor origin at (-1.74, 6.69) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862671 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862671 ms (missed cycles : 4).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787349602.71706748 seconds. ×3 + 4.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619512 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619512 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552660 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552660 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.74sINFOjoint_trajectory_controllerReceived new action goal + 6.74sINFOjoint_trajectory_controllerAccepted new action goal + 6.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998821 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998821 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288020 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288020 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351909 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.351909 ms (missed cycles : 4).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621721 ms (missed cycles : 6). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621721 ms (missed cycles : 6).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942222 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942222 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702453 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702453 ms (missed cycles : 3).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214249 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214249 ms (missed cycles : 3).[0m ×2 + 14.94sINFOjoint_trajectory_controllerGot request to cancel goal + 14.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.94sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1787349613.20902419 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062801 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062801 ms (missed cycles : 2).[0m ×2 + 15.07sWARNlocal_costmap.local_costmapSensor origin at (-0.75, 4.01) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.07sWARNlocal_costmap.local_costmapSensor origin at (-1.65, 3.94) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 15.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787349613.76542401 seconds. ×3 + 15.97sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.608654 ms (missed cycles : 6). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.608654 ms (missed cycles : 6).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385187 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385187 ms (missed cycles : 2).[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 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135443 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135443 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598777 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598777 ms (missed cycles : 3).[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787349514.26816678 seconds ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827589 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827589 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868514 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868514 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787349515.83850598 seconds. ×3 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668179 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668179 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404889 ms (missed cycles : 5). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404889 ms (missed cycles : 5).[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 4.536811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536811 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3).[0m ×2 + 7.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787349451.98296285 seconds ×3 + 8.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787349452.54239392 seconds. ×3 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5).[0m ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787349758.44212174 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_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 4.265591 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787349759.05569029 seconds. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.72sINFOmove_groupClearing octomap...[0m ×2 + 4.72sINFOmove_groupOctomap cleared.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787349759.73593831 seconds ×3 + 5.89sINFOros2_control_nodeMuJoCo sim: 6.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787349760.29455638 seconds. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787349760.88469982 seconds ×3 + 6.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458522 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458522 ms (missed cycles : 4).[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 4.536811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536811 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[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 4.536811 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536811 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919630 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241542 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007296 ms (missed cycles : 2).[0m ×2 + 3.85sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.69sINFOjoint_trajectory_controllerReceived new action goal + 5.69sINFOjoint_trajectory_controllerAccepted new action goal + 5.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787349448.06268096 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853743 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787349448.63986731 seconds. ×3 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072912 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.8977e-05 s). ×2 + 1.81sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.85sINFOjoint_trajectory_controllerReceived new action goal + 1.85sINFOjoint_trajectory_controllerAccepted new action goal + 1.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452305 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787349451.98296285 seconds ×3 + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787349452.54239392 seconds. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.690546 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937411 ms (missed cycles : 5).[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 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[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 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[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 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 20 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[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 2.366032 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366032 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482699 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532567 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107170 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787349509.60253096 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.93) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.84sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.631729 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787349510.17803049 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150101 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047682 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337120 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582961 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940069 ms (missed cycles : 3).[0m ×2 + 4.05sINFOjoint_trajectory_controllerGoal reached, success! + 4.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787349758.44212174 seconds ×3 + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_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 4.265591 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265591 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787349759.05569029 seconds. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.72sINFOmove_groupClearing octomap...[0m ×2 + 4.72sINFOmove_groupOctomap cleared.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639373 ms (missed cycles : 3).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787349759.73593831 seconds ×3 + 5.89sINFOros2_control_nodeMuJoCo sim: 6.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787349760.29455638 seconds. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420488 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787349760.88469982 seconds ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.39sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787349546.83864927 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNlocal_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. + 4.49sWARNlocal_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. + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787349547.41049457 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.39sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787349546.83864927 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNlocal_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. + 4.49sWARNlocal_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. + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787349547.41049457 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668348 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.392882 ms (missed cycles : 6).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618540 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.577229 ms (missed cycles : 6).[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904961 ms (missed cycles : 2).[0m ×2 + 4.34sINFOjoint_trajectory_controllerGoal reached, success! + 4.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.39sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787349546.83864927 seconds ×3 + 4.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sWARNlocal_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. + 4.49sWARNlocal_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. + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787349547.41049457 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247951 ms (missed cycles : 7).[0m ×2 + 5.36sINFOobjective_server_nodeFound path in 0 iterations (5.38e-07 s). ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 23 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845383 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321290 ms (missed cycles : 4).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243089 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958265 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! + 3.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787349688.92558312 seconds ×3 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.05) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.04sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340908 ms (missed cycles : 3).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787349689.50095391 seconds. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (1.554e-06 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357421 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202969 ms (missed cycles : 4).[0m ×2 | ||||
| − 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 7.42sINFOjoint_trajectory_controllerReceived new action goal + 7.42sINFOjoint_trajectory_controllerAccepted new action goal + 7.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.42sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5).[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.66sINFOvelocity_smootherActivating + 0.66sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.28sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.56sINFOmove_groupClearing octomap...[0m ×2 + 4.56sINFOmove_groupOctomap cleared.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 5.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 7.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 7.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116957 ms (missed cycles : 5).[0m ×2 + 0.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.28sINFObehavior_serverActivating + 0.28sINFObehavior_serverActivating spin + 0.28sINFObehavior_serverActivating backup + 0.28sINFObehavior_serverActivating drive_on_heading + 0.28sINFObehavior_serverActivating assisted_teleop + 0.28sINFObehavior_serverActivating wait + 0.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.38sINFObt_navigatorActivating + 0.45sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.55sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.55sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.55sINFOwaypoint_followerActivating + 0.55sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.66sINFOvelocity_smootherActivating + 0.66sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.76sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.28sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.56sINFOmove_groupClearing octomap...[0m ×2 + 4.56sINFOmove_groupOctomap cleared.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 5.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.51sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 4.948395 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 1.23sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.42sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 127 info |
+ 0.00sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.00sINFObehavior_serverActivating + 0.00sINFObehavior_serverActivating spin + 0.00sINFObehavior_serverActivating backup + 0.00sINFObehavior_serverActivating drive_on_heading + 0.00sINFObehavior_serverActivating assisted_teleop + 0.00sINFObehavior_serverActivating wait + 0.00sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.11sINFObt_navigatorActivating + 0.17sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.27sINFOwaypoint_followerActivating + 0.27sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.38sINFOvelocity_smootherActivating + 0.38sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.49sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948395 ms (missed cycles : 3).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×2 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.28sINFOmove_groupClearing octomap...[0m ×2 + 4.28sINFOmove_groupOctomap cleared.[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 6.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 6.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 | — | 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − 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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_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 4.701318 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701318 ms (missed cycles : 3).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 3.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.144928 ms (missed cycles : 7).[0m ×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 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077920 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787349402.49509239 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787349402.50530553 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787349403.06183910 seconds. ×3 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787349403.08196688 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141978 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787349403.64147806 seconds. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787349403.79208851 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764933 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787349404.37707043 seconds. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.41sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.41sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787349404.44721532 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787349405.00466132 seconds. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450813 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.845277 ms (missed cycles : 5).[0m ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal + 6.40sINFOjoint_trajectory_controllerAccepted new action goal + 6.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.41sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||