69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.8s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.2s | 12 errors · 310 warnings · 1410 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/2026-08-20-19-04-08-738847-7a7363400702-9423 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.82sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.82sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.84sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.88sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.88sINFOmap_serverCreating + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.89sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.94sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.97sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.97sINFOcontroller_managerupdate rate is 600 Hz + 13.97sINFOcontroller_managerOverruns handling is : enabled + 13.97sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.97sWARNcontroller_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. + 14.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.06sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.06sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.06sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.08sINFOlifecycle_manager_localizationCreating + 14.11sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.13sINFOros2_control_node-9process started with pid [9481] ×2 + 14.13sINFOmove_group-21process started with pid [9574] ×2 + 14.13sINFOparameter_manager_node-22process started with pid [9575] ×2 + 14.13sINFOwaypoint_manager_node-23process started with pid [9576] ×2 + 14.13sINFOmove_joint_resampler_node-24process started with pid [9596] ×2 + 14.13sINFOmove_end_effector_resampler_node-25process started with pid [9597] ×2 + 14.13sINFOobjective_server_node_main-26process started with pid [9598] ×2 + 14.13sINFOcomponent_container_mt-27process started with pid [9599] ×2 + 14.13sINFOcomponent_container_mt-28process started with pid [9600] ×2 + 14.13sINFOexecute_objective_bridge-29process started with pid [9601] ×2 + 14.14sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.14sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.14sINFOmap_serverConfiguring + 14.15sINFOui_teleop_bridge-30process started with pid [9602] ×2 + 14.15sINFOweb_bridge-31process started with pid [9603] ×2 + 14.15sINFOtf2_web_republisher_node-32process started with pid [9604] ×2 + 14.15sINFOvideo_server-33process started with pid [9605] ×2 + 14.15sINFOweb_bridge_auth_proxy-34process started with pid [9606] ×2 + 14.15sINFOweb_video_auth_proxy-35process started with pid [9607] ×2 + 14.16sINFOcontroller_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. + 14.18sINFOcomponent_container_isolated-1process started with pid [9473] ×2 + 14.18sINFOcomponent_container_isolated-2process started with pid [9474] ×2 + 14.18sINFOstatic_transform_publisher-3process started with pid [9475] ×2 + 14.18sINFOstatic_transform_publisher-4process started with pid [9476] ×2 + 14.18sINFOodom_qos_relay.py-5process started with pid [9477] ×2 + 14.18sINFOforward_stereo_publisher.py-6process started with pid [9478] ×2 + 14.18sINFOscan_to_scan_filter_chain-7process started with pid [9479] ×2 + 14.18sINFOscan_to_scan_filter_chain-8process started with pid [9480] ×2 + 14.18sINFOros2-10process started with pid [9562] ×2 + 14.18sINFOros2-11process started with pid [9563] ×2 + 14.18sINFOros2-12process started with pid [9564] ×2 + 14.18sINFOros2-13process started with pid [9565] ×2 + 14.18sINFOros2-14process started with pid [9566] ×2 + 14.18sINFOros2-15process started with pid [9568] ×2 + 14.18sINFOros2-16process started with pid [9569] ×2 + 14.18sINFOros2-17process started with pid [9570] ×2 + 14.18sINFOros2-18process started with pid [9571] ×2 + 14.18sINFOros2-19process started with pid [9572] ×2 + 14.18sINFOros2-20process started with pid [9573] ×2 + 14.22sINFOcontroller_serverCreating controller server + 14.27sINFOlocal_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. + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892361 ms (missed cycles : 6). + 14.29sINFOlocal_costmap.local_costmapCreating Costmap + 14.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.31sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.31sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.31sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.31sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.31sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.31sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.31sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.31sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.31sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.31sWARNros2_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 + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892361 ms (missed cycles : 6).[0m ×2 + 14.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.34sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.34sINFOamclConfiguring + 14.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.34sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.35sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.35sINFOmap_serverActivating + 14.36sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.43sINFOrobot_state_publisherRobot initialized + 14.43sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.43sINFOcontroller_managerReceived robot description from topic. + 14.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.43sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.43sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.44sINFOsmoother_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. + 14.46sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.47sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.47sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.47sINFOamclActivating + 14.47sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.47sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.47sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.50sINFOsmoother_serverCreating smoother server + 14.51sINFOamclSubscribed to map_topic: /map + 14.51sINFOamclSubscribed to scan_topic: /scan_merged + 14.51sINFOamclCreated reinitialize_global_localization service + 14.51sINFOamclCreated request_nomotion_update service + 14.51sINFOamclA new map was received + 14.51sINFOamclInitializing particle filter instance + 14.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.57sINFOplanner_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. + 14.57sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.59sINFOplanner_serverCreating + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.61sINFOglobal_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. + 14.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.63sINFOglobal_costmap.global_costmapCreating Costmap + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.68sINFOvideo_server2026/08/20 19:04:26 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.68sINFOvideo_server2026/08/20 19:04:26 INF configuration loaded from /tmp/moveit-webrtc-jtggdpmz/mediamtx.yml ×2 + 14.71sINFOvideo_server2026/08/20 19:04:26 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.71sINFOvideo_server2026/08/20 19:04:26 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.72sINFObehavior_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. + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.83sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.83sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.85sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.86sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.87sINFObt_navigatorCreating + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.90sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.412939 seconds + 14.90sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.90sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.90sINFOmove_groupLoaded robot model in 0.412939 seconds[0m ×2 + 14.90sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.90sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.93sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.94sINFOwaypoint_followerCreating + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.00sINFOvelocity_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. + 15.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.05sINFOlifecycle_manager_navigationCreating + 15.07sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.10sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.10sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.10sINFOcontroller_serverConfiguring controller interface + 15.10sINFOcontroller_servergetting progress checker plugins.. + 15.10sINFOcontroller_servergetting goal checker plugins.. + 15.10sINFOcontroller_serverController frequency set to 20.0000Hz + 15.10sINFOlocal_costmap.local_costmapConfiguring + 15.10sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.14sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.16sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.16sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.16sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.20sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.21sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.21sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.21sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.21sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.21sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.23sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.24sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.24sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.26sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.26sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.27sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.28sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.28sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.28sINFOcontroller_serverOptimizer reset ×2 + 15.30sINFOcontroller_serverController Server has FollowPath controllers available. + 15.32sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.32sINFOsmoother_serverConfiguring smoother server + 15.34sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.35sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.39sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.40sINFOplanner_serverConfiguring + 15.40sINFOglobal_costmap.global_costmapConfiguring + 15.41sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.42sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.43sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.43sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.43sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.45sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.45sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.45sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.49sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.49sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.49sINFOplanner_serverPlanner Server has GridBased planners available. + 15.50sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.52sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.52sINFObehavior_serverConfiguring + 15.52sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.52sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.53sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.53sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.246563 ms (missed cycles : 5). + 15.55sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.55sINFObehavior_serverConfiguring spin + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.246563 ms (missed cycles : 5).[0m ×2 + 15.56sINFObehavior_serverConfiguring backup + 15.58sINFObehavior_serverConfiguring drive_on_heading + 15.59sINFObehavior_serverConfiguring assisted_teleop + 15.60sINFOwaypoint_manager_nodeLoaded robot model in 0.466209 seconds[0m ×2 + 15.60sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.60sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.61sINFObehavior_serverConfiguring wait + 15.62sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.62sINFObt_navigatorConfiguring + 15.63sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.65sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.73sINFOamclParticle filter initialization completed + 15.73sINFOamclInitializing particles from estimated pose and covariance + 15.73sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.78sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.78sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.78sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.84sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.91sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.98sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.98sINFOwaypoint_followerConfiguring + 16.06sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.07sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.07sINFOvelocity_smootherConfiguring velocity smoother + 16.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.11sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.11sINFOcontroller_serverActivating + 16.11sINFOlocal_costmap.local_costmapActivating + 16.11sINFOlocal_costmap.local_costmapChecking transform + 16.11sINFOlocal_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 + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.42sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.46sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.48sINFOmove_group[2026-08-20 19:04:28.676] [moveit_pro_license] [info] ×2 + 16.48sINFOmove_group************************************************* ×4 + 16.48sINFOmove_group* MoveIt Pro License ×2 + 16.48sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889339 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889339 ms (missed cycles : 6).[0m ×2 + 16.67sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.67sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.67sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.73sINFOwaypoint_manager_node[2026-08-20 19:04:28.927] [moveit_pro_license] [info] ×2 + 16.74sINFOwaypoint_manager_node************************************************* ×4 + 16.74sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.74sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.99sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 16.99sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.12sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.12sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.12sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.12sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.12sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.14sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.14sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.14sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.14sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.15sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.15sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.15sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.15sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.28sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.28sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.29sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.64sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.64sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.64sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.65sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.65sWARNros2_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 + 17.65sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.65sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.65sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.65sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.65sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.65sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.65sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.65sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.65sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.65sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.65sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.65sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.65sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.65sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.65sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.65sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.65sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.65sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.65sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.65sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.65sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.65sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.65sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.65sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.65sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.65sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.65sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.65sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.65sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.65sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.65sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.68sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840234 ms (missed cycles : 2). + 17.68sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840234 ms (missed cycles : 2).[0m ×2 + 17.68sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.75sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.75sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.75sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 17.76sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 17.78sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.79sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.79sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.79sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.79sINFOplatform_velocity_controller_nav2configure successful + 17.79sINFOros2_control_nodeconfigure successful[0m ×6 + 17.90sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.11sINFOros2-15process has finished cleanly [pid 9568] ×2 + 18.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.14sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.22sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 18.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 18.23sINFOobjective_server_node[2026-08-20 19:04:30.426] [moveit_pro_license] [info] ×2 + 18.23sINFOobjective_server_node************************************************* ×4 + 18.23sINFOobjective_server_node* MoveIt Pro License ×2 + 18.23sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.31sINFOobjective_server_nodeLoaded robot model in 0.031003 seconds[0m ×2 + 18.32sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.32sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.32sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 18.32sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 18.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.36sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.54sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.54sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.54sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.55sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.55sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.55sINFOstreaming_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) + 18.55sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.55sINFOcomponent_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 + 18.55sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.75sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.75sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457823 ms (missed cycles : 2). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457823 ms (missed cycles : 2).[0m ×2 + 18.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.77sINFOcomponent_container_mtLoaded robot model in 0.410106 seconds[0m ×2 + 18.77sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.77sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787252669.965 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.89sINFOros2_control_node[2026-08-20 19:04:31.084] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.90sINFOros2_control_node[2026-08-20 19:04:31.088] [info] Controller state will be published at 10 Hz. ×2 + 18.90sINFOros2_control_node[2026-08-20 19:04:31.090] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.94sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.95sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.97sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.97sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.23sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.23sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.23sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 19.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.27sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.28sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.29sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.29sINFOros2-17process has finished cleanly [pid 9570] ×2 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.30sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.32sINFOmove_groupMoveGroup debug mode is ON + 19.32sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.32sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.36sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.36sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.36sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.36sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.37sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.37sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.39sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.39sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.49sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+ 19.49sINFOmove_group ×8 + 19.49sINFOmove_group******************************************************** ×4 + 19.49sINFOmove_group* MoveGroup using: ×2 + 19.49sINFOmove_group* - apply_planning_scene_service ×2 + 19.49sINFOmove_group* - clear_octomap_service ×2 + 19.49sINFOmove_group* - get_group_urdf ×2 + 19.49sINFOmove_group* - load_geometry_from_file ×2 + 19.49sINFOmove_group* - get_planning_scene_service ×2 + 19.49sINFOmove_group* - kinematics_service ×2 + 19.49sINFOmove_group* - save_geometry_to_file ×2 + 19.49sINFOmove_group* - GetPlanningGroups ×2 + 19.49sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.49sINFOmove_group[0m ×2 + 19.49sINFOmove_group[92mYou can start planning now![0m ×2 + 19.55sINFOcomponent_container_mt[2026-08-20 19:04:31.740] [moveit_pro_license] [info] ×2 + 19.55sINFOcomponent_container_mt************************************************* ×4 + 19.55sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.55sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.56sWARNros2_control_nodeCamera render tick took 0.68 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.73sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.73sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.74sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.74sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.77sINFOros2-16process has finished cleanly [pid 9569] ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282408 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282408 ms (missed cycles : 2).[0m ×2 + 19.83sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 19.83sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 19.90sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.91sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.91sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.91sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.94sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.94sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.32sINFOros2_control_node[2026-08-20 19:04:32.508] [info] Controller state will be published at 20 Hz. ×2 + 20.32sINFOros2_control_node[2026-08-20 19:04:32.509] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 20.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.65sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 20.67sINFOros2-20process has finished cleanly [pid 9573] ×2 + 20.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 20.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 20.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 20.81sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701076 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701076 ms (missed cycles : 3).[0m ×2 + 21.10sINFOros2_control_node[2026-08-20 19:04:33.296] [info] Controller state will be published at 20 Hz. ×2 + 21.11sINFOros2_control_node[2026-08-20 19:04:33.297] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.45sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 21.45sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 21.45sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.45sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.45sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 21.45sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 21.47sINFOros2-19process has finished cleanly [pid 9572] ×2 + 21.49sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787252672.565 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.51sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.51sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.52sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.52sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.52sINFOcontroller_managerSuccessfully switched controllers! ×19 + 21.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 21.52sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.52sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.85sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 21.85sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.85sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824431 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824431 ms (missed cycles : 3).[0m ×2 + 21.90sINFOros2-11process has finished cleanly [pid 9563] ×2 + 21.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.91sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.92sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.92sINFOplatform_velocity_controllerconfigure successful + 21.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.93sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.93sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 22.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 22.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 22.30sINFOros2-13process has finished cleanly [pid 9565] ×2 + 22.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 22.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.33sINFOforce_torque_sensor_broadcasterconfigure successful + 22.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 22.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 22.66sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.66sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 22.66sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 22.66sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 22.70sINFOros2-10process has finished cleanly [pid 9562] ×2 + 22.72sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 22.72sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 22.73sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 22.73sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761536 ms (missed cycles : 2). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761536 ms (missed cycles : 2).[0m ×2 + 23.11sINFOros2_control_node[2026-08-20 19:04:35.305] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.11sINFOros2_control_node[2026-08-20 19:04:35.306] [info] Controller state will be published at 10 Hz. ×2 + 23.12sINFOros2_control_node[2026-08-20 19:04:35.307] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.48sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.48sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.48sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.48sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.48sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 23.48sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 23.50sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.52sINFOros2-18process has finished cleanly [pid 9571] ×2 + 23.54sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.54sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.55sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.55sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.55sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.56sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.56sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 23.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 23.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 23.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 23.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj + 23.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_79sy_zb8 --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_73kjxf46 --params-file /tmp/launch_params_1ywq8udj [0m ×2 + 23.91sINFOros2-14process has finished cleanly [pid 9566] ×2 + 23.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 23.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 23.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 23.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 23.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 23.98sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 23.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 23.99sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 23.99sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 23.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 23.99sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787252675.065 for reason 'discarding message because the queue is full' + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965900 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965900 ms (missed cycles : 2).[0m ×2 + 24.11sINFOlocal_costmap.local_costmapstart + 24.20sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 4.710ms + 24.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 24.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 24.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.22sWARNcontroller_serverParameter controller_server.verbose not found + 24.22sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 24.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.22sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 24.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 24.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 24.33sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 24.33sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 24.33sINFOsmoother_serverActivating + 24.33sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 24.34sINFOros2-12process has finished cleanly [pid 9564] ×2 + 24.43sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 24.43sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 24.43sINFOplanner_serverActivating + 24.43sINFOglobal_costmap.global_costmapActivating + 24.43sINFOglobal_costmap.global_costmapChecking transform + 24.43sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787252676.589915 but the earliest data is at time 1787252677.264640, when looking up transform from frame [ridgeback_base_link] to frame [map] + 24.93sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787252677.099981 but the earliest data is at time 1787252677.264640, when looking up transform from frame [ridgeback_base_link] to frame [map] + 25.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2). + 25.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2).[0m ×2 + 25.43sINFOglobal_costmap.global_costmapstart + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 26.49sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 26.49sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 26.59sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 26.59sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 26.59sINFObehavior_serverActivating + 26.59sINFObehavior_serverActivating spin + 26.59sINFObehavior_serverActivating backup + 26.59sINFObehavior_serverActivating drive_on_heading + 26.59sINFObehavior_serverActivating assisted_teleop + 26.59sINFObehavior_serverActivating wait + 26.59sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 26.70sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 26.70sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 26.70sINFObt_navigatorActivating + 26.75sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 26.86sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 26.86sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 26.86sINFOwaypoint_followerActivating + 26.86sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 26.96sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 26.96sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 26.96sINFOvelocity_smootherActivating + 26.96sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 27.07sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 27.07sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 27.07sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 27.69sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 29.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.39sINFOmove_groupClearing octomap...[0m ×2 + 29.39sINFOmove_groupOctomap cleared.[0m ×2 + 29.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 29.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 30.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 31.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.34sINFOobjective_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 + 31.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 31.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 74.5s | 3 errors · 237 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970891 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970891 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.887ms + 0.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.853ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671250 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671250 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.319ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.886ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318995 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318995 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.605ms + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.745ms + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.813ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603628 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603628 ms (missed cycles : 4).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.067ms + 4.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOjoint_trajectory_controllerGot request to cancel goal + 4.07sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787252893.66929770 seconds ×3 + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.23) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618122 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618122 ms (missed cycles : 3).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.980ms + 4.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787252894.25949788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (7.19e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214425 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214425 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673074 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673074 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.21sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.21sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.21sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.21sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233506 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233506 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688849 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688849 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.266ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104142 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104142 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.323ms + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.594ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010848 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010848 ms (missed cycles : 3).[0m ×2 + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.609ms + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.308ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527155 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527155 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.246ms + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.049ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958466 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958466 ms (missed cycles : 2).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.902ms + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610294 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.610294 ms (missed cycles : 4).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.841ms + 14.19sINFOamclParticle filter update iteration stats: 3876 particles 723 points - 7.817ms + 14.69sINFOamclParticle filter update iteration stats: 3076 particles 723 points - 4.720ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233120 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233120 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 4.338ms + 15.69sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 4.059ms + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957188 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957188 ms (missed cycles : 2).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 3.238ms + 16.69sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.294ms + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695990 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695990 ms (missed cycles : 2).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.305ms + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541411 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541411 ms (missed cycles : 3).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538492 ms (missed cycles : 3). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538492 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773147 ms (missed cycles : 3). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773147 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.096ms + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422331 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422331 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.327ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742001 ms (missed cycles : 3). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742001 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064297 ms (missed cycles : 2). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064297 ms (missed cycles : 2).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335935 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335935 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721592 ms (missed cycles : 4). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721592 ms (missed cycles : 4).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855999 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855999 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292229 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292229 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587434 ms (missed cycles : 4). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587434 ms (missed cycles : 4).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348660 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348660 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 30.30sINFOros2_control_nodeMuJoCo sim: 1.99% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×2 + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767819 ms (missed cycles : 3). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767819 ms (missed cycles : 3).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943073 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943073 ms (missed cycles : 2).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905512 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905512 ms (missed cycles : 2).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903071 ms (missed cycles : 3). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903071 ms (missed cycles : 3).[0m ×2 + 34.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671680 ms (missed cycles : 4). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671680 ms (missed cycles : 4).[0m ×2 + 35.59sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.59sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.93sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648653 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648653 ms (missed cycles : 3).[0m ×2 + 36.76sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 37.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381335 ms (missed cycles : 4). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381335 ms (missed cycles : 4).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482049 ms (missed cycles : 5). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482049 ms (missed cycles : 5).[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735879 ms (missed cycles : 4). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735879 ms (missed cycles : 4).[0m ×2 + 39.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320963 ms (missed cycles : 4). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.320963 ms (missed cycles : 4).[0m ×2 + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765619 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765619 ms (missed cycles : 3).[0m ×2 + 41.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 42.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129336 ms (missed cycles : 4). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129336 ms (missed cycles : 4).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237685 ms (missed cycles : 3). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237685 ms (missed cycles : 3).[0m ×2 + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797779 ms (missed cycles : 3). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797779 ms (missed cycles : 3).[0m ×2 + 45.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319636 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319636 ms (missed cycles : 2).[0m ×2 + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532511 ms (missed cycles : 2). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532511 ms (missed cycles : 2).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661240 ms (missed cycles : 3). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661240 ms (missed cycles : 3).[0m ×2 + 48.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003674 ms (missed cycles : 4). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.003674 ms (missed cycles : 4).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086019 ms (missed cycles : 4). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086019 ms (missed cycles : 4).[0m ×2 + 50.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982099 ms (missed cycles : 3). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982099 ms (missed cycles : 3).[0m ×2 + 51.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 52.06sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 52.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233327 ms (missed cycles : 3). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233327 ms (missed cycles : 3).[0m ×2 + 53.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849544 ms (missed cycles : 3). + 53.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.849544 ms (missed cycles : 3).[0m ×2 + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734799 ms (missed cycles : 3). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734799 ms (missed cycles : 3).[0m ×2 + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260847 ms (missed cycles : 5). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260847 ms (missed cycles : 5).[0m ×2 + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153185 ms (missed cycles : 4). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153185 ms (missed cycles : 4).[0m ×2 + 57.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653763 ms (missed cycles : 4). + 57.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653763 ms (missed cycles : 4).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025726 ms (missed cycles : 4). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025726 ms (missed cycles : 4).[0m ×2 + 59.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944711 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944711 ms (missed cycles : 3).[0m ×2 + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857383 ms (missed cycles : 4). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857383 ms (missed cycles : 4).[0m ×2 + 60.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 61.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973812 ms (missed cycles : 3). + 61.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973812 ms (missed cycles : 3).[0m ×2 + 62.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401163 ms (missed cycles : 3). + 62.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401163 ms (missed cycles : 3).[0m ×2 + 63.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791153 ms (missed cycles : 4). + 63.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791153 ms (missed cycles : 4).[0m ×2 + 63.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 64.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099512 ms (missed cycles : 3). + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099512 ms (missed cycles : 3).[0m ×2 + 65.43sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 65.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681655 ms (missed cycles : 2). + 65.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681655 ms (missed cycles : 2).[0m ×2 + 66.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 66.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808624 ms (missed cycles : 2). + 66.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808624 ms (missed cycles : 2).[0m ×2 + 67.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167982 ms (missed cycles : 2). + 67.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167982 ms (missed cycles : 2).[0m ×2 + 68.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754925 ms (missed cycles : 3). + 68.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754925 ms (missed cycles : 3).[0m ×2 + 69.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 69.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460117 ms (missed cycles : 2). + 69.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460117 ms (missed cycles : 2).[0m ×2 + 70.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 71.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513827 ms (missed cycles : 4). + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513827 ms (missed cycles : 4).[0m ×2 + 71.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 72.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007354 ms (missed cycles : 4). + 72.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007354 ms (missed cycles : 4).[0m ×2 + 72.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 72.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 73.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713574 ms (missed cycles : 3). + 73.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713574 ms (missed cycles : 3).[0m ×2 + 73.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 74.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909489 ms (missed cycles : 3). + 74.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909489 ms (missed cycles : 3).[0m ×2 + 74.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 75.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428245 ms (missed cycles : 3). + 75.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428245 ms (missed cycles : 3).[0m ×2 + 75.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 76.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115755 ms (missed cycles : 3). + 76.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115755 ms (missed cycles : 3).[0m ×2 + 76.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 77.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736408 ms (missed cycles : 5). + 77.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736408 ms (missed cycles : 5).[0m ×2 + 77.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 78.55sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787252968.14965820 seconds ×3 + 78.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927609 ms (missed cycles : 2). + 78.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927609 ms (missed cycles : 2).[0m ×2 + 78.60sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.60sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.412ms + 78.70sWARNlocal_costmap.local_costmapSensor origin at (-0.18, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.70sWARNlocal_costmap.local_costmapSensor origin at (-1.07, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 79.14sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787252968.73871708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 79.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443899 ms (missed cycles : 3). + 79.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443899 ms (missed cycles : 3).[0m ×2 + 80.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 80.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 186 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.50sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.50sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.50sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.50sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614937 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614937 ms (missed cycles : 3).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825885 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825885 ms (missed cycles : 2).[0m ×2 + 9.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.598ms + 9.57sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.815ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405063 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405063 ms (missed cycles : 4).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 10.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.660ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952222 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952222 ms (missed cycles : 3).[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.554ms + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.707ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488894 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488894 ms (missed cycles : 3).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.942ms + 12.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.547ms + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561432 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561432 ms (missed cycles : 2).[0m ×2 + 13.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.180ms + 13.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.004ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221905 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221905 ms (missed cycles : 2).[0m ×2 + 14.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.184ms + 14.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.145ms + 15.46sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 8.968ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394324 ms (missed cycles : 4). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394324 ms (missed cycles : 4).[0m ×2 + 15.96sINFOamclParticle filter update iteration stats: 3824 particles 723 points - 7.150ms + 16.46sINFOamclParticle filter update iteration stats: 3003 particles 723 points - 4.903ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373388 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373388 ms (missed cycles : 2).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 3.922ms + 17.46sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.789ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193320 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193320 ms (missed cycles : 3).[0m ×2 + 17.96sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 2.774ms + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120924 ms (missed cycles : 3). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120924 ms (missed cycles : 3).[0m ×2 + 18.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705748 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705748 ms (missed cycles : 2).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940234 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940234 ms (missed cycles : 2).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.312ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062702 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062702 ms (missed cycles : 3).[0m ×2 + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543050 ms (missed cycles : 2). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543050 ms (missed cycles : 2).[0m ×2 + 23.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383641 ms (missed cycles : 4). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383641 ms (missed cycles : 4).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677422 ms (missed cycles : 3). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677422 ms (missed cycles : 3).[0m ×2 + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602328 ms (missed cycles : 6). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602328 ms (missed cycles : 6).[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275647 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275647 ms (missed cycles : 3).[0m ×2 + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644169 ms (missed cycles : 3).[0m ×2 + 28.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297132 ms (missed cycles : 4). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297132 ms (missed cycles : 4).[0m ×2 + 29.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336325 ms (missed cycles : 4). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336325 ms (missed cycles : 4).[0m ×2 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 30.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834277 ms (missed cycles : 3). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834277 ms (missed cycles : 3).[0m ×2 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 32.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115812 ms (missed cycles : 3). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115812 ms (missed cycles : 3).[0m ×2 + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 33.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557921 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557921 ms (missed cycles : 2).[0m ×2 + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201572 ms (missed cycles : 4). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201572 ms (missed cycles : 4).[0m ×2 + 34.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165753 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165753 ms (missed cycles : 3).[0m ×2 + 35.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962891 ms (missed cycles : 4). + 36.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962891 ms (missed cycles : 4).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677845 ms (missed cycles : 4). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677845 ms (missed cycles : 4).[0m ×2 + 37.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259645 ms (missed cycles : 2). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259645 ms (missed cycles : 2).[0m ×2 + 39.20sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 39.23sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.54 s); wrist_camera (0.54 s). Behaviors waiting on those points topics will time out.[0m ×2 + 39.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 40.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555633 ms (missed cycles : 4). + 40.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.555633 ms (missed cycles : 4).[0m ×2 + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565876 ms (missed cycles : 2). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565876 ms (missed cycles : 2).[0m ×2 + 42.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872629 ms (missed cycles : 4). + 42.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872629 ms (missed cycles : 4).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 43.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423968 ms (missed cycles : 3). + 43.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423968 ms (missed cycles : 3).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345865 ms (missed cycles : 3). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345865 ms (missed cycles : 3).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212500 ms (missed cycles : 3). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212500 ms (missed cycles : 3).[0m ×2 + 46.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834988 ms (missed cycles : 5). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.834988 ms (missed cycles : 5).[0m ×2 + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681898 ms (missed cycles : 3). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681898 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861646 ms (missed cycles : 3). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861646 ms (missed cycles : 3).[0m ×2 + 49.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623534 ms (missed cycles : 4). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623534 ms (missed cycles : 4).[0m ×2 + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785120 ms (missed cycles : 2). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785120 ms (missed cycles : 2).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153605 ms (missed cycles : 4). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153605 ms (missed cycles : 4).[0m ×2 + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104681 ms (missed cycles : 2). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104681 ms (missed cycles : 2).[0m ×2 + 52.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258797 ms (missed cycles : 4). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258797 ms (missed cycles : 4).[0m ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229035 ms (missed cycles : 5). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229035 ms (missed cycles : 5).[0m ×2 + 56.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873496 ms (missed cycles : 3). + 56.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873496 ms (missed cycles : 3).[0m ×2 + 56.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 57.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437074 ms (missed cycles : 5). + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437074 ms (missed cycles : 5).[0m ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136600 ms (missed cycles : 4). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136600 ms (missed cycles : 4).[0m ×2 + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679847 ms (missed cycles : 3). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679847 ms (missed cycles : 3).[0m ×2 + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261417 ms (missed cycles : 2). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261417 ms (missed cycles : 2).[0m ×2 + 60.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 61.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618379 ms (missed cycles : 3). + 61.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618379 ms (missed cycles : 3).[0m ×2 + 61.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787253031.77743530 seconds ×3 + 61.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-2.90, 12.55) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-3.80, 12.59) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.021ms + 62.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787253032.38213563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.46sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 62.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715362 ms (missed cycles : 3). + 62.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715362 ms (missed cycles : 3).[0m ×2 + 62.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701610 ms (missed cycles : 3). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701610 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 185 warnings · 223 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 0.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.38sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.38sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.38sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.38sINFOros2_control_nodeAccepted new action goal[0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787252730.79979229 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787252731.38280177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.37sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.093ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656177 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656177 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463422 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463422 ms (missed cycles : 3).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.054ms + 9.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746631 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746631 ms (missed cycles : 3).[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012106 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012106 ms (missed cycles : 3).[0m ×2 + 11.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 11.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156648 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156648 ms (missed cycles : 3).[0m ×2 + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569183 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569183 ms (missed cycles : 3).[0m ×2 + 13.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 13.17sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276053 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276053 ms (missed cycles : 2).[0m ×2 + 14.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642949 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642949 ms (missed cycles : 4).[0m ×2 + 15.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561489 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561489 ms (missed cycles : 3).[0m ×2 + 16.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430415 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430415 ms (missed cycles : 3).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 17.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536524 ms (missed cycles : 4). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536524 ms (missed cycles : 4).[0m ×2 + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678354 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678354 ms (missed cycles : 3).[0m ×2 + 19.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200673 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200673 ms (missed cycles : 3).[0m ×2 + 20.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms ×3 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172125 ms (missed cycles : 5). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172125 ms (missed cycles : 5).[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594847 ms (missed cycles : 4). + 22.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594847 ms (missed cycles : 4).[0m ×2 + 22.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 23.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533741 ms (missed cycles : 5). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533741 ms (missed cycles : 5).[0m ×2 + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866779 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866779 ms (missed cycles : 2).[0m ×2 + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249273 ms (missed cycles : 2). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249273 ms (missed cycles : 2).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324475 ms (missed cycles : 2). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324475 ms (missed cycles : 2).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153142 ms (missed cycles : 5). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.153142 ms (missed cycles : 5).[0m ×2 + 27.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105119 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.105119 ms (missed cycles : 4).[0m ×2 + 28.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 29.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686159 ms (missed cycles : 4). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.686159 ms (missed cycles : 4).[0m ×2 + 29.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 30.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098760 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098760 ms (missed cycles : 3).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143629 ms (missed cycles : 3). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143629 ms (missed cycles : 3).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 32.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105283 ms (missed cycles : 5). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.105283 ms (missed cycles : 5).[0m ×2 + 32.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060033 ms (missed cycles : 2). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060033 ms (missed cycles : 2).[0m ×2 + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 34.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979165 ms (missed cycles : 4). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.979165 ms (missed cycles : 4).[0m ×2 + 35.58sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548988 ms (missed cycles : 3). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548988 ms (missed cycles : 3).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453824 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453824 ms (missed cycles : 3).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945509 ms (missed cycles : 3). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945509 ms (missed cycles : 3).[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964371 ms (missed cycles : 3). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964371 ms (missed cycles : 3).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908400 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908400 ms (missed cycles : 2).[0m ×2 + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596509 ms (missed cycles : 3). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596509 ms (missed cycles : 3).[0m ×2 + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777302 ms (missed cycles : 5). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777302 ms (missed cycles : 5).[0m ×2 + 43.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137561 ms (missed cycles : 3). + 43.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137561 ms (missed cycles : 3).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204904 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204904 ms (missed cycles : 3).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653752 ms (missed cycles : 2). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653752 ms (missed cycles : 2).[0m ×2 + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006549 ms (missed cycles : 2). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006549 ms (missed cycles : 2).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027222 ms (missed cycles : 2). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027222 ms (missed cycles : 2).[0m ×2 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522439 ms (missed cycles : 4). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522439 ms (missed cycles : 4).[0m ×2 + 49.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797477 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797477 ms (missed cycles : 2).[0m ×2 + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605270 ms (missed cycles : 5). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605270 ms (missed cycles : 5).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268809 ms (missed cycles : 2). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268809 ms (missed cycles : 2).[0m ×2 + 52.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 52.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381338 ms (missed cycles : 2). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381338 ms (missed cycles : 2).[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090142 ms (missed cycles : 3). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090142 ms (missed cycles : 3).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156696 ms (missed cycles : 4). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156696 ms (missed cycles : 4).[0m ×2 + 55.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483916 ms (missed cycles : 2). + 55.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483916 ms (missed cycles : 2).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 56.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389848 ms (missed cycles : 4). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389848 ms (missed cycles : 4).[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 60.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 60.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 60.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 61.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 61.29sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.29sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 61.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 61.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 62.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 62.20sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 62.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 63.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.8s | 180 warnings · 193 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787252826.82188797 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.025ms + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 6.90) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 6.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.932ms + 4.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787252827.41177225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672603 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672603 ms (missed cycles : 3).[0m ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635847 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635847 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.809ms + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602767 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602767 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.871ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.383ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038484 ms (missed cycles : 4). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038484 ms (missed cycles : 4).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.117ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.594ms + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326281 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326281 ms (missed cycles : 2).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.800ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393844 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393844 ms (missed cycles : 3).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.470ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.235ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497008 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497008 ms (missed cycles : 3).[0m ×2 + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.855ms + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.517ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675056 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675056 ms (missed cycles : 2).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.668ms + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.520ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645437 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645437 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 4973 particles 723 points - 5.912ms + 16.01sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 6.240ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137150 ms (missed cycles : 4). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137150 ms (missed cycles : 4).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 3128 particles 723 points - 4.071ms + 17.00sINFOamclParticle filter update iteration stats: 2533 particles 723 points - 4.456ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006909 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006909 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 2.706ms + 18.00sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.241ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855770 ms (missed cycles : 2). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855770 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498165 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498165 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255608 ms (missed cycles : 4). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255608 ms (missed cycles : 4).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555203 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555203 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728309 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728309 ms (missed cycles : 3).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414037 ms (missed cycles : 4). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414037 ms (missed cycles : 4).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342375 ms (missed cycles : 2). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342375 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372267 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372267 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.949ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911288 ms (missed cycles : 3). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911288 ms (missed cycles : 3).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712402 ms (missed cycles : 3). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712402 ms (missed cycles : 3).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.892ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223188 ms (missed cycles : 3). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223188 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 30.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415679 ms (missed cycles : 4). + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415679 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935224 ms (missed cycles : 3). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935224 ms (missed cycles : 3).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003054 ms (missed cycles : 3). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003054 ms (missed cycles : 3).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799896 ms (missed cycles : 4). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799896 ms (missed cycles : 4).[0m ×2 + 33.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 34.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083962 ms (missed cycles : 3). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083962 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740791 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740791 ms (missed cycles : 3).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725038 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725038 ms (missed cycles : 2).[0m ×2 + 37.01sINFOros2_control_nodeMuJoCo sim: 1.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.17sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493315 ms (missed cycles : 2). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493315 ms (missed cycles : 2).[0m ×2 + 37.99sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330972 ms (missed cycles : 2). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330972 ms (missed cycles : 2).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097308 ms (missed cycles : 4). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.097308 ms (missed cycles : 4).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348004 ms (missed cycles : 4). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348004 ms (missed cycles : 4).[0m ×2 + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 41.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911423 ms (missed cycles : 4). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911423 ms (missed cycles : 4).[0m ×2 + 42.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 42.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184349 ms (missed cycles : 4). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184349 ms (missed cycles : 4).[0m ×2 + 43.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 43.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256654 ms (missed cycles : 4). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.256654 ms (missed cycles : 4).[0m ×2 + 45.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118997 ms (missed cycles : 2). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118997 ms (missed cycles : 2).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012923 ms (missed cycles : 4). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012923 ms (missed cycles : 4).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms ×2 + 47.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912918 ms (missed cycles : 3). + 47.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912918 ms (missed cycles : 3).[0m ×2 + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957907 ms (missed cycles : 4). + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957907 ms (missed cycles : 4).[0m ×2 + 49.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875194 ms (missed cycles : 3). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875194 ms (missed cycles : 3).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155629 ms (missed cycles : 4). + 50.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155629 ms (missed cycles : 4).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 51.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331818 ms (missed cycles : 3). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331818 ms (missed cycles : 3).[0m ×2 + 52.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938504 ms (missed cycles : 3). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938504 ms (missed cycles : 3).[0m ×2 + 53.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 53.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715927 ms (missed cycles : 3). + 53.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715927 ms (missed cycles : 3).[0m ×2 + 54.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312759 ms (missed cycles : 2). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312759 ms (missed cycles : 2).[0m ×2 + 55.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 55.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500967 ms (missed cycles : 3). + 55.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500967 ms (missed cycles : 3).[0m ×2 + 56.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600030 ms (missed cycles : 3). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600030 ms (missed cycles : 3).[0m ×2 + 58.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486808 ms (missed cycles : 4). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486808 ms (missed cycles : 4).[0m ×2 + 59.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655033 ms (missed cycles : 2). + 59.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655033 ms (missed cycles : 2).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 59.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787252882.67193222 seconds ×3 + 59.90sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.132ms + 59.92sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 9.44) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 59.92sWARNlocal_costmap.local_costmapSensor origin at (-2.33, 9.91) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.274ms + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262330 ms (missed cycles : 2). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262330 ms (missed cycles : 2).[0m ×2 + 60.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787252883.27539325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.83sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794407 ms (missed cycles : 3). + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794407 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 265 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×15 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.25sINFOmove_groupClearing octomap...[0m ×2 + 2.25sINFOmove_groupOctomap cleared.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778990 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778990 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576870 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576870 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813916 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813916 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168797 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168797 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813354 ms (missed cycles : 3). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813354 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311457 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311457 ms (missed cycles : 2).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611740 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611740 ms (missed cycles : 2).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514864 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514864 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913218 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913218 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275828 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275828 ms (missed cycles : 4).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911021 ms (missed cycles : 3). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911021 ms (missed cycles : 3).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822523 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822523 ms (missed cycles : 2).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899721 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899721 ms (missed cycles : 2).[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677607 ms (missed cycles : 3). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677607 ms (missed cycles : 3).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 2.274ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257529 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257529 ms (missed cycles : 3).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417835 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417835 ms (missed cycles : 3).[0m ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921162 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921162 ms (missed cycles : 2).[0m ×2 + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957023 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957023 ms (missed cycles : 3).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929523 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929523 ms (missed cycles : 3).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329592 ms (missed cycles : 4). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329592 ms (missed cycles : 4).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370922 ms (missed cycles : 3). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370922 ms (missed cycles : 3).[0m ×2 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769022 ms (missed cycles : 3). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769022 ms (missed cycles : 3).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652083 ms (missed cycles : 3). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652083 ms (missed cycles : 3).[0m ×2 + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291323 ms (missed cycles : 2). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291323 ms (missed cycles : 2).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917223 ms (missed cycles : 3). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917223 ms (missed cycles : 3).[0m ×2 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366844 ms (missed cycles : 3). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366844 ms (missed cycles : 3).[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200531 ms (missed cycles : 4). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200531 ms (missed cycles : 4).[0m ×2 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914338 ms (missed cycles : 3). + 35.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914338 ms (missed cycles : 3).[0m ×2 + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670573 ms (missed cycles : 2). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670573 ms (missed cycles : 2).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264984 ms (missed cycles : 2). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264984 ms (missed cycles : 2).[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464501 ms (missed cycles : 3). + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464501 ms (missed cycles : 3).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690893 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690893 ms (missed cycles : 3).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696151 ms (missed cycles : 3). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696151 ms (missed cycles : 3).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255107 ms (missed cycles : 2). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255107 ms (missed cycles : 2).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305299 ms (missed cycles : 3). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305299 ms (missed cycles : 3).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 47.95sINFOjoint_trajectory_controllerGoal reached, success! + 47.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 47.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 48.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 48.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 48.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 49.74sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 49.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 112 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314943 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314943 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231183 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231183 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992585 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992585 ms (missed cycles : 2).[0m ×2 + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983676 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983676 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787252794.19122934 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354273 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354273 ms (missed cycles : 3).[0m ×2 + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787252795.77884436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277634 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277634 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079766 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079766 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.44sINFOjoint_trajectory_controllerReceived new action goal + 7.44sINFOjoint_trajectory_controllerAccepted new action goal + 7.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337672 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337672 ms (missed cycles : 3).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486582 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486582 ms (missed cycles : 3).[0m ×2 + 8.92sINFOros2_control_nodeMuJoCo sim: 1.46% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.701ms + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126798 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126798 ms (missed cycles : 3).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.068ms + 10.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.248ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280691 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280691 ms (missed cycles : 4).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.238ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.383ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690280 ms (missed cycles : 4). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690280 ms (missed cycles : 4).[0m ×2 + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.333ms + 12.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.531ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178773 ms (missed cycles : 4). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178773 ms (missed cycles : 4).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.659ms + 13.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.531ms + 13.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.691ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075193 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075193 ms (missed cycles : 2).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 4931 particles 723 points - 8.315ms + 14.92sINFOamclParticle filter update iteration stats: 4125 particles 723 points - 5.466ms + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261501 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261501 ms (missed cycles : 3).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 4.066ms + 15.92sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.484ms + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092522 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092522 ms (missed cycles : 3).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.206ms + 16.92sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 1.951ms + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452227 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.452227 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 1385 particles 723 points - 2.607ms + 17.92sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.479ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125022 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125022 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.446ms + 18.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms ×2 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451504 ms (missed cycles : 3). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451504 ms (missed cycles : 3).[0m ×2 + 19.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 20.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704144 ms (missed cycles : 2). + 20.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704144 ms (missed cycles : 2).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408283 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408283 ms (missed cycles : 3).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110013 ms (missed cycles : 4). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110013 ms (missed cycles : 4).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173486 ms (missed cycles : 4). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173486 ms (missed cycles : 4).[0m ×2 + 23.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 24.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818956 ms (missed cycles : 3). + 24.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818956 ms (missed cycles : 3).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155268 ms (missed cycles : 5). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155268 ms (missed cycles : 5).[0m ×2 + 26.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 26.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140606 ms (missed cycles : 4). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140606 ms (missed cycles : 4).[0m ×2 + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 27.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230973 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230973 ms (missed cycles : 3).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140321 ms (missed cycles : 4). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140321 ms (missed cycles : 4).[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 29.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308699 ms (missed cycles : 3). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308699 ms (missed cycles : 3).[0m ×2 + 30.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 30.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308166 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308166 ms (missed cycles : 2).[0m ×2 + 31.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5).[0m ×2 + 33.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 34.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2).[0m ×2 + 34.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4).[0m ×2 + 35.85sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787252826.82188797 seconds ×3 + 35.93sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.93sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 36.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.025ms + 36.03sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 6.90) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 36.03sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 6.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 36.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.932ms + 36.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787252827.41177225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2).[0m ×2 + 36.83sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 15.0s | 65 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437074 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.437074 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136600 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136600 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679847 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679847 ms (missed cycles : 3).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261417 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261417 ms (missed cycles : 2).[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618379 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618379 ms (missed cycles : 3).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787253031.77743530 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 4.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.90, 12.55) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-3.80, 12.59) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.021ms + 4.89sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787253032.38213563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715362 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715362 ms (missed cycles : 3).[0m ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701610 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701610 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564574 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564574 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222579 ms (missed cycles : 5). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222579 ms (missed cycles : 5).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198872 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198872 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967505 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967505 ms (missed cycles : 3).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (4.73e-07 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 11.56sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 11.62sINFOobjective_server_nodeFound path in 0 iterations (6.01e-07 s). ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720662 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720662 ms (missed cycles : 3).[0m ×2 + 12.15sINFOobjective_server_nodeFound path in 146 iterations (0.10547 s). ×2 + 12.40sINFOros2_control_nodeMuJoCo sim: 2.49% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.60sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 12.66sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264292 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264292 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.33sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090112 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090112 ms (missed cycles : 2).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181334 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181334 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.928ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2).[0m ×2 + 19.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787253046.81819844 seconds ×3 + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 19.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787253047.43733668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.94sINFOmove_groupClearing octomap...[0m ×2 + 19.94sINFOmove_groupOctomap cleared.[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3).[0m ×2 + 20.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787253047.97745657 seconds ×3 + 21.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787253048.55306888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3).[0m ×2 + 21.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787253049.22319555 seconds ×3 + 21.97sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.1s | 100 errors · 36 warnings · 431 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.928ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787253046.81819844 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787253047.43733668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787253047.97745657 seconds ×3 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787253048.55306888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787253049.22319555 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161390 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161390 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224150 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224150 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049358 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049358 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173000 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173000 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770810 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770810 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109250 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109250 ms (missed cycles : 2).[0m ×2 + 11.73sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.76sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.77sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.78sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.79sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.80sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.82sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.82sERRORweb_video_auth_proxy-35process has died [pid 9607, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.82sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-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 + 11.84sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.87sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.87sERRORweb_bridge_auth_proxy-34process has died [pid 9606, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.87sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.87sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.88sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.88sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.91sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.93sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.95sINFOvideo_server-33process has finished cleanly [pid 9605] ×2 + 11.96sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.98sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 12.01sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 12.03sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773781 ms (missed cycles : 2). + 12.06sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.09sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.12sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.15sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.18sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.20sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9604] ×2 + 12.21sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.25sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.25sINFOcontroller_managerShutdown request received.... + 12.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.26sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.26sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.26sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.26sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.26sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.26sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.26sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.26sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.26sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.26sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.26sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.26sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.26sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.26sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.26sINFOcontroller_managerShutting down the controller manager. + 12.27sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1787253055.965 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.29sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.29sERRORmove_group-21process has died [pid 9574, 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_bse6k2oj --params-file /tmp/launch_params_2ga7n8mw --params-file /tmp/launch_params__lbsju5a --params-file /tmp/launch_params_2x9ag2sv --params-file /tmp/launch_params_n01ogm1x --params-file /tmp/launch_params_qhrivypu']. ×2 + 12.29sINFOui_teleop_bridge-30process has finished cleanly [pid 9602] ×2 + 12.31sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.32sINFOcomponent_container_mt-28process has finished cleanly [pid 9600] ×2 + 12.34sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.34sINFOexecute_objective_bridge-29process has finished cleanly [pid 9601] ×2 + 12.36sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.36sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.38sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.41sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.43sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.43sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.43sINFOmap_serverDeactivating + 12.43sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.44sINFOmap_serverCleaning up + 12.44sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.44sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.46sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.46sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.46sINFOcontroller_serverDeactivating + 12.46sINFOlocal_costmap.local_costmapDeactivating + 12.46sINFOvideo_server2026/08/20 19:10:55 INF shutting down gracefully ×2 + 12.46sINFOvideo_server2026/08/20 19:10:55 INF [WebRTC] closing ×2 + 12.46sINFOvideo_server2026/08/20 19:10:55 INF [RTSP] closing ×2 + 12.46sINFOvideo_server2026/08/20 19:10:55 INF waiting for running hooks ×2 + 12.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.46sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.46sERRORamclThe bond connection to the lifecycle manager has been broken + 12.46sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773781 ms (missed cycles : 2).[0m ×2 + 12.46sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.47sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.47sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.47sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.47sERRORmove_groupStack trace (most recent call last) in thread 10214: ×2 + 12.47sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.47sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f455e5aea63, in __clone ×2 + 12.47sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f455e521aa3, in ×2 + 12.47sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f455e7b3db3, in ×2 + 12.47sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f455ef24637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.47sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f455eb45620, in rclcpp::Rate::sleep() ×2 + 12.47sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f455ea87d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.47sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f455ea49087, in ×2 + 12.47sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f455e782390, in __cxa_throw ×2 + 12.47sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f455e76ca54, in std::terminate() ×2 + 12.47sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f455e7820d9, in ×2 + 12.47sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f455e76cff4, in ×2 + 12.47sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f455e4ad8fe, in abort ×2 + 12.47sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f455e4ca27d, in raise ×2 + 12.47sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f455e523b2c, in pthread_kill ×2 + 12.47sERRORmove_groupAborted (Signal sent by tkill() 9574 0) ×2 + 12.47sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.47sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.47sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.47sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.47sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.47sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.47sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.47sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.47sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.47sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.48sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.48sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.48sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.48sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.48sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.48sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.48sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.48sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.48sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.48sINFOodom_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 + 12.48sINFOodom_qos_relay.pymain() ×2 + 12.48sINFOodom_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 + 12.48sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.48sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.48sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.48sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.48sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.48sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.48sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.48sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.48sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.49sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.49sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.49sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.50sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.51sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.52sINFOcontroller_serverCleaning up + 12.52sINFOlocal_costmap.local_costmapCleaning up + 12.56sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.56sINFOsmoother_serverDeactivating + 12.56sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.57sINFOsmoother_serverCleaning up + 12.59sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.59sINFOplanner_serverDeactivating + 12.59sINFOglobal_costmap.global_costmapDeactivating + 12.63sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.63sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.64sINFOplanner_serverCleaning up + 12.66sINFOglobal_costmap.global_costmapCleaning up + 12.67sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.67sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.67sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.67sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.67sINFOvelocity_smootherDeactivating + 12.67sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.67sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.67sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.68sERRORcomponent_container_isolated-2process has died [pid 9474, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_ukm423oe --params-file /tmp/launch_params_0r7kkw12 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.71sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.71sINFObehavior_serverDeactivating + 12.71sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.72sINFObehavior_serverCleaning up + 12.72sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.72sINFObt_navigatorDeactivating + 12.72sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.73sINFObt_navigatorCleaning up + 12.78sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.78sINFOwaypoint_followerDeactivating + 12.78sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.88sINFObt_navigatorCompleted Cleaning up + 12.88sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.88sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.88sINFOvelocity_smootherCleaning up + 12.88sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.89sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.91sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.91sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.91sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.91sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.91sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.91sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.91sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.91sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.91sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.91sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.92sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.92sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.92sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.92sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.92sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.92sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.92sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.92sINFOwaypoint_followerCleaning up + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.95sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.95sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.95sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.95sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.95sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.15sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9597] ×2 + 13.18sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9596] ×2 + 13.24sINFOwaypoint_manager_node-23process has finished cleanly [pid 9576] ×2 + 13.25sERRORcomponent_container_isolated-1process has died [pid 9473, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_ukm423oe --params-file /tmp/launch_params_rmf0jft1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.25sINFOparameter_manager_node-22process has finished cleanly [pid 9575] ×2 + 13.25sINFOcomponent_container_mt-27process has finished cleanly [pid 9599] ×2 + 13.33sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9480] ×2 + 13.33sINFOobjective_server_node[2026-08-20 19:10:57.327] [moveit_pro_license] [info] ×2 + 13.33sINFOobjective_server_node************************************************* ×4 + 13.33sINFOobjective_server_node* MoveIt Pro License ×2 + 13.33sINFOobjective_server_node* Application has successfully terminated ×2 + 13.36sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9479] ×2 + 13.41sINFOobjective_server_node_main-26process has finished cleanly [pid 9598] ×2 + 13.41sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.42sINFOstatic_transform_publisher-4process has finished cleanly [pid 9476] ×2 + 13.45sINFOstatic_transform_publisher-3process has finished cleanly [pid 9475] ×2 + 13.45sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9478] ×2 + 13.48sERRORodom_qos_relay.py-5process has died [pid 9477, 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 + 14.86sINFOweb_bridge-31process has finished cleanly [pid 9603] ×2 + 14.86sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.97sINFOros2_control_node-9process has finished cleanly [pid 9481] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 55 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500967 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500967 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600030 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600030 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486808 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486808 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655033 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655033 ms (missed cycles : 2).[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787252882.67193222 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.93sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.132ms + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 9.44) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-2.33, 9.91) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.274ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262330 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262330 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787252883.27539325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (5.82e-07 s). ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794407 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794407 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789995 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789995 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.01sINFOjoint_trajectory_controllerReceived new action goal + 7.01sINFOjoint_trajectory_controllerAccepted new action goal + 7.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322199 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322199 ms (missed cycles : 2).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174680 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174680 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.792ms + 9.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.923ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178074 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178074 ms (missed cycles : 2).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 10.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.884ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970891 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970891 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.887ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.853ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671250 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671250 ms (missed cycles : 3).[0m ×2 + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.319ms + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.886ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318995 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318995 ms (missed cycles : 4).[0m ×2 + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.605ms + 13.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.745ms + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.813ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603628 ms (missed cycles : 4). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603628 ms (missed cycles : 4).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.067ms + 14.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOjoint_trajectory_controllerGot request to cancel goal + 14.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787252893.66929770 seconds ×3 + 14.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 14.94sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.23) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 14.94sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.22) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618122 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618122 ms (missed cycles : 3).[0m ×2 + 15.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.980ms + 15.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787252894.25949788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_server_nodeFound path in 0 iterations (7.19e-07 s). ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214425 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214425 ms (missed cycles : 2).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673074 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673074 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.3s | 41 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314943 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314943 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231183 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231183 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992585 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992585 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983676 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983676 ms (missed cycles : 2).[0m ×2 + 9.57sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787252794.19122934 seconds ×3 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354273 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354273 ms (missed cycles : 3).[0m ×2 + 11.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787252795.77884436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.59sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277634 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277634 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079766 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079766 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 43 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909489 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909489 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428245 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428245 ms (missed cycles : 3).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115755 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115755 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736408 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736408 ms (missed cycles : 5).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 4.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787252968.14965820 seconds ×3 + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927609 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927609 ms (missed cycles : 2).[0m ×2 + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.26, 14.06) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 13.64) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.412ms + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-0.18, 3.05) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-1.07, 2.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.089ms + 4.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787252968.73871708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.26sINFOjoint_trajectory_controllerReceived new action goal + 5.26sINFOjoint_trajectory_controllerAccepted new action goal + 5.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443899 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443899 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 10.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 11.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.60sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 92 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.46sINFOjoint_trajectory_controllerReceived new action goal + 5.46sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787252730.79979229 seconds ×3 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2).[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787252731.38280177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 19 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.928ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787253046.81819844 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787253047.43733668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787253047.97745657 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787253048.55306888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787253049.22319555 seconds ×3 + 6.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161390 ms (missed cycles : 2). | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.25sINFOmove_groupClearing octomap...[0m ×2 + 2.25sINFOmove_groupOctomap cleared.[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_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 + 4.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.46sINFOjoint_trajectory_controllerReceived new action goal + 5.46sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 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 · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 53 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.729114 ms (missed cycles : 5).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475732 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.971505 ms (missed cycles : 4).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241378 ms (missed cycles : 4).[0m ×2 + 3.26sINFOjoint_trajectory_controllerGoal reached, success! + 3.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.27sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787252787.89294553 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.95) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.137ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.997ms + 3.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787252788.49109268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097981 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.48e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075020 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 22 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787252826.82188797 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.025ms + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 6.90) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 6.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.932ms + 4.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787252827.41177225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826541 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619419 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006313 ms (missed cycles : 2).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176337 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787252974.59885836 seconds ×3 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270807 ms (missed cycles : 3).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787252975.19730997 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354377 ms (missed cycles : 2).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 81 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.056ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073388 ms (missed cycles : 2).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018121 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.928ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.014ms + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156491 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.062ms + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157156 ms (missed cycles : 2).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787253046.81819844 seconds ×3 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 4.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787253047.43733668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.75sINFOmove_groupClearing octomap...[0m ×2 + 4.75sINFOmove_groupOctomap cleared.[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467442 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787253047.97745657 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787253048.55306888 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573300 ms (missed cycles : 3).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787253049.22319555 seconds ×3 + 6.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285931 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458468 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947968 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 5.44sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.46sINFOjoint_trajectory_controllerReceived new action goal + 5.46sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 92 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117606 ms (missed cycles : 2).[0m ×2 + 0.56sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.56sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787252727.30327415 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038359 ms (missed cycles : 2).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787252727.88966155 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800444 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeFound path in 0 iterations (3.4069e-05 s). ×2 + 2.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.38sINFOjoint_trajectory_controllerReceived new action goal + 2.38sINFOjoint_trajectory_controllerAccepted new action goal + 2.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714566 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787252730.79979229 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932673 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787252731.38280177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259619 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774138 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 22 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787252826.82188797 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.025ms + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 6.90) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 6.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.932ms + 4.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787252827.41177225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 22 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587781 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.927616 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836184 ms (missed cycles : 2).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758804 ms (missed cycles : 4).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! + 3.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787252826.82188797 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.02sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.83) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.025ms + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-1.79, 6.90) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-2.68, 6.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.932ms + 4.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787252827.41177225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467106 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072998 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_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 · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 0.39sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.40sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.50sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.50sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.50sINFObehavior_serverActivating + 0.50sINFObehavior_serverActivating spin + 0.50sINFObehavior_serverActivating backup + 0.50sINFObehavior_serverActivating drive_on_heading + 0.50sINFObehavior_serverActivating assisted_teleop + 0.50sINFObehavior_serverActivating wait + 0.50sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.61sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.61sINFObt_navigatorActivating + 0.66sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.77sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.77sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.77sINFOwaypoint_followerActivating + 0.77sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.87sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.87sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.87sINFOvelocity_smootherActivating + 0.87sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.98sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.98sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.98sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 7.31sINFOjoint_trajectory_controllerReceived new action goal + 7.31sINFOjoint_trajectory_controllerAccepted new action goal + 7.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.31sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 233 info |
+ 0.00sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787252677.099981 but the earliest data is at time 1787252677.264640, when looking up transform from frame [ridgeback_base_link] to frame [map] + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2).[0m ×2 + 0.50sINFOglobal_costmap.global_costmapstart + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.66sINFObehavior_serverActivating + 1.66sINFObehavior_serverActivating spin + 1.66sINFObehavior_serverActivating backup + 1.66sINFObehavior_serverActivating drive_on_heading + 1.66sINFObehavior_serverActivating assisted_teleop + 1.66sINFObehavior_serverActivating wait + 1.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.76sINFObt_navigatorActivating + 1.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.92sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.92sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.92sINFOwaypoint_followerActivating + 1.92sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 2.03sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 2.03sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 2.03sINFOvelocity_smootherActivating + 2.03sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 2.13sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 2.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 2.13sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.76sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.89sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.89sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 7.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 215 info |
+ 0.00sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1787252677.099981 but the earliest data is at time 1787252677.264640, when looking up transform from frame [ridgeback_base_link] to frame [map] + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929926 ms (missed cycles : 2).[0m ×2 + 0.50sINFOglobal_costmap.global_costmapstart + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.66sINFObehavior_serverActivating + 1.66sINFObehavior_serverActivating spin + 1.66sINFObehavior_serverActivating backup + 1.66sINFObehavior_serverActivating drive_on_heading + 1.66sINFObehavior_serverActivating assisted_teleop + 1.66sINFObehavior_serverActivating wait + 1.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.76sINFObt_navigatorActivating + 1.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.92sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.92sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.92sINFOwaypoint_followerActivating + 1.92sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 2.03sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 2.03sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 2.03sINFOvelocity_smootherActivating + 2.03sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 2.13sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 2.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 2.13sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.76sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.87sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.87sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.89sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.89sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_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 + 6.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 232 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.42sINFOwaypoint_followerActivating + 1.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.95sINFOmove_groupClearing octomap...[0m ×2 + 3.95sINFOmove_groupOctomap cleared.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 4.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 6.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810159 ms (missed cycles : 3).[0m ×2 + 0.39sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.40sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.50sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.50sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.50sINFObehavior_serverActivating + 0.50sINFObehavior_serverActivating spin + 0.50sINFObehavior_serverActivating backup + 0.50sINFObehavior_serverActivating drive_on_heading + 0.50sINFObehavior_serverActivating assisted_teleop + 0.50sINFObehavior_serverActivating wait + 0.50sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.61sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.61sINFObt_navigatorActivating + 0.66sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.77sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.77sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.77sINFOwaypoint_followerActivating + 0.77sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.87sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.87sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.87sINFOvelocity_smootherActivating + 0.87sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.98sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.98sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.98sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.60sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.71sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.71sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.29sINFOmove_groupClearing octomap...[0m ×2 + 3.29sINFOmove_groupOctomap cleared.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_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 · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_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 · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 240 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384168 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853179 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482708 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787252681.57633948 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.90sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787252681.58653593 seconds ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787252682.17795753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787252682.18807626 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790866 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787252682.76872182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787252682.91941190 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957599 ms (missed cycles : 3).[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787252683.52418470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.88sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787252683.57434845 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787252684.16182804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207274 ms (missed cycles : 2).[0m ×2 + 6.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799675 ms (missed cycles : 3).[0m ×2 + 6.91sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||