MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.7s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	31.0s	12 errors · 309 warnings · 1408 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/2026-08-24-01-20-53-817628-bd4639c37e38-9384 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.45sINFOstatic_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' + 13.45sINFOstatic_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' + 13.53sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.54sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.54sINFOcontroller_managerupdate rate is 600 Hz + 13.54sINFOcontroller_managerOverruns handling is : enabled + 13.54sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.54sWARNcontroller_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. + 13.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810653 ms (missed cycles : 2). + 13.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.74sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.74sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.76sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.79sINFOros2_control_node-9process started with pid [9442] ×2 + 13.79sINFOmove_group-21process started with pid [9549] ×2 + 13.79sINFOparameter_manager_node-22process started with pid [9550] ×2 + 13.79sINFOwaypoint_manager_node-23process started with pid [9551] ×2 + 13.79sINFOmove_joint_resampler_node-24process started with pid [9554] ×2 + 13.79sINFOmove_end_effector_resampler_node-25process started with pid [9555] ×2 + 13.79sINFOobjective_server_node_main-26process started with pid [9556] ×2 + 13.79sINFOcomponent_container_mt-27process started with pid [9557] ×2 + 13.79sINFOcomponent_container_mt-28process started with pid [9558] ×2 + 13.81sINFOcontroller_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. + 13.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.83sINFOexecute_objective_bridge-29process started with pid [9559] ×2 + 13.83sINFOui_teleop_bridge-30process started with pid [9560] ×2 + 13.83sINFOweb_bridge-31process started with pid [9561] ×2 + 13.83sINFOtf2_web_republisher_node-32process started with pid [9563] ×2 + 13.83sINFOvideo_server-33process started with pid [9564] ×2 + 13.83sINFOweb_bridge_auth_proxy-34process started with pid [9566] ×2 + 13.83sINFOweb_video_auth_proxy-35process started with pid [9567] ×2 + 13.83sINFOcomponent_container_isolated-1process started with pid [9434] ×2 + 13.84sINFOcomponent_container_isolated-2process started with pid [9435] ×2 + 13.84sINFOstatic_transform_publisher-3process started with pid [9436] ×2 + 13.84sINFOstatic_transform_publisher-4process started with pid [9437] ×2 + 13.84sINFOodom_qos_relay.py-5process started with pid [9438] ×2 + 13.84sINFOforward_stereo_publisher.py-6process started with pid [9439] ×2 + 13.84sINFOscan_to_scan_filter_chain-7process started with pid [9440] ×2 + 13.84sINFOscan_to_scan_filter_chain-8process started with pid [9441] ×2 + 13.84sINFOros2-10process started with pid [9520] ×2 + 13.84sINFOros2-11process started with pid [9521] ×2 + 13.84sINFOros2-12process started with pid [9522] ×2 + 13.84sINFOros2-13process started with pid [9523] ×2 + 13.84sINFOros2-14process started with pid [9524] ×2 + 13.84sINFOros2-15process started with pid [9525] ×2 + 13.84sINFOros2-16process started with pid [9526] ×2 + 13.84sINFOros2-17process started with pid [9527] ×2 + 13.84sINFOros2-18process started with pid [9528] ×2 + 13.84sINFOros2-19process started with pid [9529] ×2 + 13.84sINFOros2-20process started with pid [9530] ×2 + 13.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.88sINFOcontroller_serverCreating controller server + 13.93sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 13.94sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.94sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.94sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.94sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.94sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 13.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.94sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.94sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.94sWARNros2_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 + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810653 ms (missed cycles : 2).[0m ×2 + 13.95sINFOlocal_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. + 13.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 13.97sINFOlocal_costmap.local_costmapCreating Costmap + 13.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.99sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.00sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.03sINFOsmoother_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. + 14.04sINFOmap_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. + 14.04sINFOmap_serverCreating + 14.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.06sINFOsmoother_serverCreating smoother server + 14.06sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.06sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.09sINFOrobot_state_publisherRobot initialized + 14.09sINFOcontroller_managerReceived robot description from topic. + 14.09sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.11sINFOplanner_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. + 14.13sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.14sINFOplanner_serverCreating + 14.14sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.15sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.15sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.19sINFOlifecycle_manager_localizationCreating + 14.19sINFOglobal_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. + 14.20sINFOglobal_costmap.global_costmapCreating Costmap + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.22sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.23sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.23sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.23sINFOmap_serverConfiguring + 14.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.28sINFObehavior_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. + 14.33sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.33sINFOamclConfiguring + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.34sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.34sINFOmap_serverActivating + 14.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.34sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.40sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.43sINFObt_navigatorCreating + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.45sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.45sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.45sINFOamclActivating + 14.45sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.45sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.46sWARNlaser_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. + 14.46sWARNlaser_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. + 14.46sWARNscan_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 + 14.47sINFOamclSubscribed to map_topic: /map + 14.47sINFOamclSubscribed to scan_topic: /scan_merged + 14.47sINFOamclCreated reinitialize_global_localization service + 14.47sINFOamclCreated request_nomotion_update service + 14.47sINFOamclA new map was received + 14.47sINFOamclInitializing particle filter instance + 14.50sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.50sINFOwaypoint_followerCreating + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.58sINFOvelocity_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. + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.62sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.463182 seconds + 14.62sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.62sINFOmove_groupLoaded robot model in 0.463182 seconds[0m ×2 + 14.62sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.63sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.63sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.64sINFOlifecycle_manager_navigationCreating + 14.64sINFOvideo_server2026/08/24 01:21:11 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.64sINFOvideo_server2026/08/24 01:21:11 INF configuration loaded from /tmp/moveit-webrtc-9kicnyts/mediamtx.yml ×2 + 14.65sINFOvideo_server2026/08/24 01:21:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.65sINFOvideo_server2026/08/24 01:21:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.66sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.69sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.69sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.69sINFOcontroller_serverConfiguring controller interface + 14.69sINFOcontroller_servergetting progress checker plugins.. + 14.69sINFOcontroller_servergetting goal checker plugins.. + 14.69sINFOcontroller_serverController frequency set to 20.0000Hz + 14.69sINFOlocal_costmap.local_costmapConfiguring + 14.71sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.73sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004256 ms (missed cycles : 2). + 14.76sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.76sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.76sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004256 ms (missed cycles : 2).[0m ×2 + 14.80sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.80sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.81sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.82sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.82sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.85sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.87sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.87sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.88sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.88sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.89sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.90sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.91sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.91sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.92sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.93sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.93sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.93sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.93sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.94sINFOcontroller_serverOptimizer reset ×2 + 14.95sINFOcontroller_serverController Server has FollowPath controllers available. + 14.98sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.98sINFOsmoother_serverConfiguring smoother server + 15.01sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.01sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.02sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.02sINFOplanner_serverConfiguring + 15.02sINFOglobal_costmap.global_costmapConfiguring + 15.03sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.04sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.04sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.04sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.05sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.09sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.09sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.09sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.11sINFOamclParticle filter initialization completed + 15.13sINFOamclInitializing particles from estimated pose and covariance + 15.13sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.14sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.14sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.14sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.15sINFOplanner_serverPlanner Server has GridBased planners available. + 15.15sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.15sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.15sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.18sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.18sINFObehavior_serverConfiguring + 15.18sINFOwaypoint_manager_nodeLoaded robot model in 0.332293 seconds[0m ×2 + 15.18sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.19sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.19sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.20sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.21sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.22sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.23sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.23sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.24sINFObehavior_serverConfiguring spin + 15.25sINFObehavior_serverConfiguring backup + 15.28sINFObehavior_serverConfiguring drive_on_heading + 15.30sINFObehavior_serverConfiguring assisted_teleop + 15.36sINFObehavior_serverConfiguring wait + 15.37sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.37sINFObt_navigatorConfiguring + 15.38sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.40sWARNbt_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 + 15.61sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.72sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.72sINFOwaypoint_followerConfiguring + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945376 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945376 ms (missed cycles : 2).[0m ×2 + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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. + 15.77sWARNwaypoint_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 + 15.78sWARNwaypoint_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 + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.78sWARNwaypoint_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. + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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 + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNmove_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. + 15.79sWARNwaypoint_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. + 15.79sWARNwaypoint_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. + 15.79sWARNmove_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. + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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 + 15.80sWARNmove_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. + 15.80sWARNmove_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. + 15.80sWARNmove_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. + 15.80sWARNmove_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. + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNwaypoint_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 + 15.80sWARNmove_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. + 15.80sWARNwaypoint_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 + 15.80sWARNmove_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. + 15.80sWARNmove_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. + 15.80sWARNmove_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. + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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. + 15.80sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sWARNwaypoint_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. + 15.81sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.81sWARNwaypoint_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. + 15.81sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sWARNmove_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 + 15.81sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.81sINFOvelocity_smootherConfiguring velocity smoother + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.82sWARNwaypoint_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 + 15.83sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.83sINFOcontroller_serverActivating + 15.83sINFOlocal_costmap.local_costmapActivating + 15.83sINFOlocal_costmap.local_costmapChecking transform + 15.83sINFOlocal_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. ×9 + 16.09sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 16.10sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 16.15sINFOwaypoint_manager_node[2026-08-24 01:21:13.226] [moveit_pro_license] [info] ×2 + 16.15sINFOwaypoint_manager_node************************************************* ×4 + 16.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.17sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.17sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.18sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.25sINFOmove_group[2026-08-24 01:21:13.315] [moveit_pro_license] [info] ×2 + 16.25sINFOmove_group************************************************* ×4 + 16.26sINFOmove_group* MoveIt Pro License ×2 + 16.26sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.26sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 16.27sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 16.73sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.73sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.74sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.74sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.75sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.75sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.75sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.75sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.75sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.75sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.75sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.75sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.75sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.75sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.75sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.75sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.76sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.76sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.76sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.76sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.76sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.76sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.08sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.08sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.08sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.08sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.08sWARNros2_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 + 17.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.08sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 17.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.08sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 17.08sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 17.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.08sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 17.08sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 17.08sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 17.08sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 17.08sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 17.08sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 17.09sINFOros2_control_noderear_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.09sINFOros2_control_noderear_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodebase: 0.0052 m, 3.1416 rad ×2 + 17.09sINFOros2_control_nodefront_left_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodefront_right_wheel_link: 0.0700 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodeshoulder_link: 0.0057 m, 3.1416 rad ×2 + 17.09sINFOros2_control_nodeupper_arm_link: 0.1381 m, 2.0944 rad ×2 + 17.09sINFOros2_control_nodeforearm_link: 0.0090 m, 2.0944 rad ×2 + 17.09sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 17.09sINFOros2_control_nodewrist_2_link: 0.1056 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodewrist_3_link: 0.1004 m, 1.5708 rad ×2 + 17.09sINFOros2_control_nodevacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodecollision_vacuum_base: 0.0056 m, 0.0000 rad ×2 + 17.09sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0056 m, 0.0000 rad[0m ×2 + 17.09sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.09sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.09sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.09sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.09sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.09sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.09sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.09sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.09sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.09sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.09sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.09sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.09sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.09sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.09sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.09sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.09sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.10sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 17.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 17.12sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.12sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.12sWARNros2_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 + 17.15sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.15sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.15sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.15sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.15sINFOplatform_velocity_controller_nav2configure successful + 17.15sINFOros2_control_nodeconfigure successful[0m ×6 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939859 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939859 ms (missed cycles : 2).[0m ×2 + 17.36sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 17.36sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 17.36sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 17.38sINFOobjective_server_node[2026-08-24 01:21:14.456] [moveit_pro_license] [info] ×2 + 17.38sINFOobjective_server_node************************************************* ×4 + 17.39sINFOobjective_server_node* MoveIt Pro License ×2 + 17.39sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.47sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.47sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.47sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.47sINFOobjective_server_nodeLoaded robot model in 0.0356616 seconds[0m ×2 + 17.47sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.47sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.49sINFOros2-15process has finished cleanly [pid 9525] ×2 + 17.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.54sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.54sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.55sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.55sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.55sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.55sINFOstreaming_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) + 17.55sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.55sINFOcomponent_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 + 17.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.55sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.55sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 17.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 17.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 17.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 17.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.72sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 17.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.73sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 17.75sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.75sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 17.77sINFOstreaming_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) + 17.77sINFOcomponent_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 + 17.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.84sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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. + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.85sWARNobjective_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. + 17.85sWARNobjective_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 + 17.85sWARNobjective_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. + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.85sWARNobjective_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 + 17.93sINFOobjective_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 + 17.93sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.95sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.95sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.10sINFOcomponent_container_mtLoaded robot model in 0.378473 seconds[0m ×2 + 18.10sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.10sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.12sINFOros2_control_node[2026-08-24 01:21:15.196] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.13sINFOros2_control_node[2026-08-24 01:21:15.199] [info] Controller state will be published at 10 Hz. ×2 + 18.13sINFOros2_control_node[2026-08-24 01:21:15.200] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787534474.275 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764024 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764024 ms (missed cycles : 3).[0m ×2 + 18.45sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.45sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 18.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 18.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 18.47sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 18.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 18.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 18.49sWARNplanning_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. + 18.49sWARNcomponent_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 + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sINFOmove_groupMoveGroup debug mode is ON + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNcomponent_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 + 18.49sWARNplanning_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. + 18.49sWARNplanning_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. + 18.49sWARNcomponent_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 + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNcomponent_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 + 18.50sWARNplanning_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. + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNplanning_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. + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNcomponent_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 + 18.50sWARNplanning_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. + 18.50sWARNcomponent_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 + 18.50sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.50sWARNplanning_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. + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sINFOros2-17process has finished cleanly [pid 9527] ×2 + 18.51sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.51sWARNcomponent_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 + 18.55sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 18.55sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.55sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 18.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.56sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.56sINFOforce_torque_sensor_broadcasterconfigure successful + 18.56sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.56sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.56sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 18.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.57sINFOcontroller_managerSuccessfully switched controllers! ×19 + 18.57sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 18.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 18.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 18.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 18.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.68sINFOcomponent_container_mt[2026-08-24 01:21:15.755] [moveit_pro_license] [info] ×2 + 18.68sINFOcomponent_container_mt************************************************* ×4 + 18.68sINFOcomponent_container_mt* MoveIt Pro License ×2 + 18.68sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.69sINFOmove_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 ****************************************************** + 18.69sINFOmove_group ×8 + 18.69sINFOmove_group****************************************************** ×4 + 18.69sINFOmove_group* MoveGroup using: ×2 + 18.69sINFOmove_group* - apply_planning_scene_service ×2 + 18.69sINFOmove_group* - clear_octomap_service ×2 + 18.70sINFOmove_group* - get_group_urdf ×2 + 18.70sINFOmove_group* - load_geometry_from_file ×2 + 18.70sINFOmove_group* - get_planning_scene_service ×2 + 18.70sINFOmove_group* - kinematics_service ×2 + 18.70sINFOmove_group* - save_geometry_to_file ×2 + 18.70sINFOmove_group* - GetPlanningGroups ×2 + 18.70sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.70sINFOmove_group[0m ×2 + 18.70sINFOmove_group[92mYou can start planning now![0m ×2 + 18.87sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 18.87sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 18.87sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 18.87sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 18.87sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 18.87sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 18.91sINFOros2-10process has finished cleanly [pid 9520] ×2 + 18.94sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.94sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.94sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.94sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.94sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.95sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.95sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.95sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.96sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.06sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.06sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.28sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 19.28sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 19.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 19.28sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 19.29sINFOros2-11process has finished cleanly [pid 9521] ×2 + 19.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 19.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 19.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 19.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 19.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 19.40sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 19.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 19.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 19.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 19.41sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 19.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 19.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 19.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 19.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 19.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 19.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 19.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433485 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433485 ms (missed cycles : 2).[0m ×2 + 19.76sINFOros2-16process has finished cleanly [pid 9526] ×2 + 19.76sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.76sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.76sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.76sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 19.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 19.79sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.79sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.84sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 19.84sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 19.84sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.84sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.84sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.85sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.86sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 19.86sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.18sINFOros2-14process has finished cleanly [pid 9524] ×2 + 20.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 20.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 20.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 20.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 20.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 20.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 20.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 20.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 20.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 20.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 20.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 20.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 20.28sWARNobjective_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 + 20.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 20.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 20.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 20.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.33sINFOlocal_costmap.local_costmapstart + 20.43sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 3.329ms + 20.43sWARNcontroller_serverParameter controller_server.verbose not found + 20.43sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.43sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537691 ms (missed cycles : 2). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537691 ms (missed cycles : 2).[0m ×2 + 20.54sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.54sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.54sINFOsmoother_serverActivating + 20.54sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.58sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.60sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.60sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.60sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 20.60sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.60sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.60sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 20.62sINFOros2-12process has finished cleanly [pid 9522] ×2 + 20.64sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.64sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.64sINFOplanner_serverActivating + 20.64sINFOglobal_costmap.global_costmapActivating + 20.64sINFOglobal_costmap.global_costmapChecking transform + 20.64sINFOglobal_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 1787534477.707139 but the earliest data is at time 1787534478.374893, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.66sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.66sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.67sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1787534476.775 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.02sINFOros2_control_node[2026-08-24 01:21:18.091] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.02sINFOros2_control_node[2026-08-24 01:21:18.093] [info] Controller state will be published at 10 Hz. ×2 + 21.02sINFOros2_control_node[2026-08-24 01:21:18.094] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.14sINFOglobal_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 1787534478.165504 but the earliest data is at time 1787534478.374893, when looking up transform from frame [ridgeback_base_link] to frame [map] + 21.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.38sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.38sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.38sINFOros2-18process has finished cleanly [pid 9528] ×2 + 21.45sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 21.45sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 21.51sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 21.51sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 21.51sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.51sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622648 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622648 ms (missed cycles : 2).[0m ×2 + 21.64sINFOglobal_costmap.global_costmapstart + 21.85sINFOros2_control_node[2026-08-24 01:21:18.920] [info] Controller state will be published at 20 Hz. ×2 + 21.85sINFOros2_control_node[2026-08-24 01:21:18.921] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.20sINFOros2-20process has finished cleanly [pid 9530] ×2 + 22.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 22.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 22.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 22.20sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 22.27sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 22.27sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 22.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 22.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 22.28sINFOplatform_velocity_controllerconfigure successful + 22.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 22.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 22.29sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 22.29sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 22.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214786 ms (missed cycles : 2). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214786 ms (missed cycles : 2).[0m ×2 + 22.62sINFOros2-13process has finished cleanly [pid 9523] ×2 + 22.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh + 22.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8nhbdea8 --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_tdvwc6ii --params-file /tmp/launch_params_hx0naxqh [0m ×2 + 22.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 22.70sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 22.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 22.70sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.80sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.80sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.80sINFObehavior_serverActivating + 22.80sINFObehavior_serverActivating spin + 22.80sINFObehavior_serverActivating backup + 22.80sINFObehavior_serverActivating drive_on_heading + 22.80sINFObehavior_serverActivating assisted_teleop + 22.80sINFObehavior_serverActivating wait + 22.80sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.91sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.91sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.91sINFObt_navigatorActivating + 22.97sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 23.03sINFOros2_control_node[2026-08-24 01:21:20.104] [info] Controller state will be published at 20 Hz. ×2 + 23.03sINFOros2_control_node[2026-08-24 01:21:20.105] [info] JointVelocityController 'on_configure' succeeded. ×2 + 23.08sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 23.08sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 23.08sINFOwaypoint_followerActivating + 23.08sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 23.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 23.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 23.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 23.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 23.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 23.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 23.18sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 23.18sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 23.18sINFOvelocity_smootherActivating + 23.18sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 23.29sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 23.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 23.29sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 23.36sINFOros2-19process has finished cleanly [pid 9529] ×2 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725767 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725767 ms (missed cycles : 2).[0m ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 27.13sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 28.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 28.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 28.32sINFOmove_groupClearing octomap...[0m ×2 + 28.32sINFOmove_groupOctomap cleared.[0m ×2 + 28.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 28.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 29.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 30.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.28sINFOobjective_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 + 30.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 30.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 30.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 30.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 30.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 30.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.2s	3 errors · 231 warnings · 243 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.448ms + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965681 ms (missed cycles : 2). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965681 ms (missed cycles : 2).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.255ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286670 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286670 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.121ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.122ms + 2.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.948ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812792 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812792 ms (missed cycles : 2).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.042ms + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441852 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441852 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOjoint_trajectory_controllerGot request to cancel goal + 3.92sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.94sERRORobjective_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: 1787534698.05225825 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.97sINFOros2_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 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.819ms + 4.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787534698.63338256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014432 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014432 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084680 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084680 ms (missed cycles : 4).[0m ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.90sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.90sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.90sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.90sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884506 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884506 ms (missed cycles : 3).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169402 ms (missed cycles : 4). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169402 ms (missed cycles : 4).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.830ms + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553350 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553350 ms (missed cycles : 3).[0m ×2 + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.656ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.403ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.705ms + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105346 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105346 ms (missed cycles : 3).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.166ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.866ms + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617993 ms (missed cycles : 3). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617993 ms (missed cycles : 3).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.906ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.082ms + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250889 ms (missed cycles : 4). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250889 ms (missed cycles : 4).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.790ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035222 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035222 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 9.223ms + 14.29sINFOamclParticle filter update iteration stats: 4466 particles 723 points - 8.432ms + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359681 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359681 ms (missed cycles : 3).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 5.576ms + 15.29sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 5.357ms + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083822 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083822 ms (missed cycles : 3).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 3013 particles 723 points - 4.101ms + 16.29sINFOamclParticle filter update iteration stats: 2753 particles 723 points - 6.037ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986975 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986975 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 2429 particles 723 points - 4.704ms + 17.29sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 3.030ms + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875200 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875200 ms (missed cycles : 3).[0m ×2 + 17.79sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.338ms + 18.29sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 1.998ms + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246299 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246299 ms (missed cycles : 2).[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms ×2 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798251 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798251 ms (missed cycles : 3).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.345ms + 20.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352841 ms (missed cycles : 3). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352841 ms (missed cycles : 3).[0m ×2 + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 21.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804096 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804096 ms (missed cycles : 2).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975449 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975449 ms (missed cycles : 2).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265567 ms (missed cycles : 4). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265567 ms (missed cycles : 4).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms ×2 + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817885 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817885 ms (missed cycles : 2).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 25.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436221 ms (missed cycles : 3). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436221 ms (missed cycles : 3).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.139ms + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms ×3 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295497 ms (missed cycles : 4). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295497 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891118 ms (missed cycles : 4). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891118 ms (missed cycles : 4).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 29.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981936 ms (missed cycles : 2). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981936 ms (missed cycles : 2).[0m ×2 + 30.10sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811684 ms (missed cycles : 3). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811684 ms (missed cycles : 3).[0m ×2 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226462 ms (missed cycles : 4). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226462 ms (missed cycles : 4).[0m ×2 + 31.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms ×2 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283176 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283176 ms (missed cycles : 2).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951284 ms (missed cycles : 2). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951284 ms (missed cycles : 2).[0m ×2 + 34.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540152 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540152 ms (missed cycles : 3).[0m ×2 + 35.28sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 35.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224796 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224796 ms (missed cycles : 2).[0m ×2 + 35.70sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.55sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009013 ms (missed cycles : 4). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009013 ms (missed cycles : 4).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011544 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011544 ms (missed cycles : 3).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719658 ms (missed cycles : 3). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719658 ms (missed cycles : 3).[0m ×2 + 39.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263588 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263588 ms (missed cycles : 3).[0m ×2 + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281305 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281305 ms (missed cycles : 2).[0m ×2 + 40.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012702 ms (missed cycles : 2). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012702 ms (missed cycles : 2).[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052697 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052697 ms (missed cycles : 2).[0m ×2 + 43.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184870 ms (missed cycles : 4). + 43.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184870 ms (missed cycles : 4).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710754 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710754 ms (missed cycles : 2).[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195263 ms (missed cycles : 4). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195263 ms (missed cycles : 4).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms ×2 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360871 ms (missed cycles : 4). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360871 ms (missed cycles : 4).[0m ×2 + 47.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178400 ms (missed cycles : 2). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178400 ms (missed cycles : 2).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785095 ms (missed cycles : 3). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785095 ms (missed cycles : 3).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms ×2 + 50.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750069 ms (missed cycles : 3). + 50.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750069 ms (missed cycles : 3).[0m ×2 + 50.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 51.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946502 ms (missed cycles : 3). + 51.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946502 ms (missed cycles : 3).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819018 ms (missed cycles : 3). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819018 ms (missed cycles : 3).[0m ×2 + 53.18sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237212 ms (missed cycles : 5). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237212 ms (missed cycles : 5).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019109 ms (missed cycles : 2). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019109 ms (missed cycles : 2).[0m ×2 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064441 ms (missed cycles : 2). + 55.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064441 ms (missed cycles : 2).[0m ×2 + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351797 ms (missed cycles : 2). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351797 ms (missed cycles : 2).[0m ×2 + 57.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601317 ms (missed cycles : 3). + 57.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601317 ms (missed cycles : 3).[0m ×2 + 57.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 58.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 58.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261437 ms (missed cycles : 2). + 58.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261437 ms (missed cycles : 2).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681054 ms (missed cycles : 4). + 60.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681054 ms (missed cycles : 4).[0m ×2 + 61.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811362 ms (missed cycles : 3). + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811362 ms (missed cycles : 3).[0m ×2 + 61.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283321 ms (missed cycles : 2). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283321 ms (missed cycles : 2).[0m ×2 + 62.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808564 ms (missed cycles : 2). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808564 ms (missed cycles : 2).[0m ×2 + 63.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 64.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2). + 64.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2).[0m ×2 + 65.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523129 ms (missed cycles : 3). + 65.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523129 ms (missed cycles : 3).[0m ×2 + 65.62sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 66.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992687 ms (missed cycles : 2). + 66.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992687 ms (missed cycles : 2).[0m ×2 + 67.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091608 ms (missed cycles : 4). + 67.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091608 ms (missed cycles : 4).[0m ×2 + 67.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 68.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125283 ms (missed cycles : 3). + 68.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125283 ms (missed cycles : 3).[0m ×2 + 69.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782342 ms (missed cycles : 3). + 69.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782342 ms (missed cycles : 3).[0m ×2 + 69.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 70.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 70.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673139 ms (missed cycles : 2). + 70.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673139 ms (missed cycles : 2).[0m ×2 + 71.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 71.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387893 ms (missed cycles : 4). + 71.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387893 ms (missed cycles : 4).[0m ×2 + 72.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 72.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558227 ms (missed cycles : 4). + 72.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558227 ms (missed cycles : 4).[0m ×2 + 72.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 73.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004403 ms (missed cycles : 4). + 73.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004403 ms (missed cycles : 4).[0m ×2 + 74.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 74.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 74.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950260 ms (missed cycles : 5). + 74.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950260 ms (missed cycles : 5).[0m ×2 + 75.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 75.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733628 ms (missed cycles : 3). + 75.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733628 ms (missed cycles : 3).[0m ×2 + 76.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 76.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961450 ms (missed cycles : 2). + 76.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961450 ms (missed cycles : 2).[0m ×2 + 77.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787534771.22354937 seconds ×3 + 77.19sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.19sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.927ms + 77.29sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 4.80) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.29sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 4.64) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.276ms + 77.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787534771.80635023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841119 ms (missed cycles : 3). + 77.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841119 ms (missed cycles : 3).[0m ×2 + 79.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251580 ms (missed cycles : 2). + 79.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251580 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	182 warnings · 175 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3).[0m ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840324 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840324 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967736 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.967736 ms (missed cycles : 3).[0m ×2 + 8.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.720ms + 9.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.561ms + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877747 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877747 ms (missed cycles : 3).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.628ms + 9.98sINFOros2_control_nodeMuJoCo sim: 2.00% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.393ms + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427265 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427265 ms (missed cycles : 3).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.407ms + 11.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.369ms + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681715 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681715 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.299ms + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417828 ms (missed cycles : 4). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417828 ms (missed cycles : 4).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.190ms + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945594 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945594 ms (missed cycles : 2).[0m ×2 + 13.77sINFOamclParticle filter update iteration stats: 4611 particles 723 points - 5.599ms + 14.27sINFOamclParticle filter update iteration stats: 3128 particles 723 points - 4.957ms + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975904 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975904 ms (missed cycles : 3).[0m ×2 + 14.77sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 3.560ms + 15.26sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.104ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019761 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019761 ms (missed cycles : 2).[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571856 ms (missed cycles : 3). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571856 ms (missed cycles : 3).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 17.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.320ms + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407231 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407231 ms (missed cycles : 3).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583758 ms (missed cycles : 4). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583758 ms (missed cycles : 4).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 19.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880581 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880581 ms (missed cycles : 2).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894603 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894603 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730474 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730474 ms (missed cycles : 3).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609957 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609957 ms (missed cycles : 3).[0m ×2 + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034104 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034104 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.165ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976605 ms (missed cycles : 2). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976605 ms (missed cycles : 2).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432236 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432236 ms (missed cycles : 3).[0m ×2 + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257871 ms (missed cycles : 2). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257871 ms (missed cycles : 2).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895501 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895501 ms (missed cycles : 3).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051525 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051525 ms (missed cycles : 3).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016998 ms (missed cycles : 4). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016998 ms (missed cycles : 4).[0m ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777002 ms (missed cycles : 2). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777002 ms (missed cycles : 2).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037568 ms (missed cycles : 2). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037568 ms (missed cycles : 2).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631766 ms (missed cycles : 4). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631766 ms (missed cycles : 4).[0m ×2 + 34.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978480 ms (missed cycles : 4). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978480 ms (missed cycles : 4).[0m ×2 + 35.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968542 ms (missed cycles : 3). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968542 ms (missed cycles : 3).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729542 ms (missed cycles : 5). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729542 ms (missed cycles : 5).[0m ×2 + 37.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538923 ms (missed cycles : 4). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538923 ms (missed cycles : 4).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096739 ms (missed cycles : 2). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096739 ms (missed cycles : 2).[0m ×2 + 39.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078958 ms (missed cycles : 5). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078958 ms (missed cycles : 5).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301967 ms (missed cycles : 2). + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301967 ms (missed cycles : 2).[0m ×2 + 41.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868195 ms (missed cycles : 2). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868195 ms (missed cycles : 2).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155381 ms (missed cycles : 4). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155381 ms (missed cycles : 4).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418627 ms (missed cycles : 4). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418627 ms (missed cycles : 4).[0m ×2 + 45.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362709 ms (missed cycles : 3). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362709 ms (missed cycles : 3).[0m ×2 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517091 ms (missed cycles : 4). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517091 ms (missed cycles : 4).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875775 ms (missed cycles : 3). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875775 ms (missed cycles : 3).[0m ×2 + 48.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 49.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343369 ms (missed cycles : 4). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343369 ms (missed cycles : 4).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896881 ms (missed cycles : 5). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896881 ms (missed cycles : 5).[0m ×2 + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769829 ms (missed cycles : 4). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769829 ms (missed cycles : 4).[0m ×2 + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123375 ms (missed cycles : 4). + 52.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123375 ms (missed cycles : 4).[0m ×2 + 52.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329745 ms (missed cycles : 4). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329745 ms (missed cycles : 4).[0m ×2 + 54.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084376 ms (missed cycles : 4). + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084376 ms (missed cycles : 4).[0m ×2 + 55.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785645 ms (missed cycles : 5). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785645 ms (missed cycles : 5).[0m ×2 + 56.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173637 ms (missed cycles : 3). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173637 ms (missed cycles : 3).[0m ×2 + 57.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405456 ms (missed cycles : 2). + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405456 ms (missed cycles : 2).[0m ×2 + 58.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793194 ms (missed cycles : 3). + 58.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793194 ms (missed cycles : 3).[0m ×2 + 59.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523908 ms (missed cycles : 4). + 59.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523908 ms (missed cycles : 4).[0m ×2 + 60.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 60.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787534835.15033984 seconds ×3 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317848 ms (missed cycles : 2). + 60.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317848 ms (missed cycles : 2).[0m ×2 + 61.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.129ms + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 7.19) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 7.21) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 61.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.321ms + 61.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787534835.74609613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.90sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 62.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080247 ms (missed cycles : 2). + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080247 ms (missed cycles : 2).[0m ×2 + 62.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 63.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829425 ms (missed cycles : 2). + 63.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829425 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.0s	182 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 0.30sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.30sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.58sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.03sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.03sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.03sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.03sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787534534.44484973 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787534535.03134751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586963 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586963 ms (missed cycles : 3).[0m ×2 + 6.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150893 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150893 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 1.622ms + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631834 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631834 ms (missed cycles : 3).[0m ×2 + 9.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 9.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840942 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840942 ms (missed cycles : 3).[0m ×2 + 10.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 10.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078530 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078530 ms (missed cycles : 2).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 11.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713142 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713142 ms (missed cycles : 3).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 12.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984539 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984539 ms (missed cycles : 2).[0m ×2 + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 13.49sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928363 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928363 ms (missed cycles : 2).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956010 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956010 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190179 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190179 ms (missed cycles : 3).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526943 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526943 ms (missed cycles : 3).[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101598 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101598 ms (missed cycles : 2).[0m ×2 + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841594 ms (missed cycles : 2). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841594 ms (missed cycles : 2).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690061 ms (missed cycles : 3). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690061 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605361 ms (missed cycles : 3). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605361 ms (missed cycles : 3).[0m ×2 + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843430 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843430 ms (missed cycles : 2).[0m ×2 + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997415 ms (missed cycles : 2). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997415 ms (missed cycles : 2).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 24.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816042 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816042 ms (missed cycles : 2).[0m ×2 + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490849 ms (missed cycles : 4). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490849 ms (missed cycles : 4).[0m ×2 + 26.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182893 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182893 ms (missed cycles : 2).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.211ms + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828463 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828463 ms (missed cycles : 3).[0m ×2 + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174480 ms (missed cycles : 4). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174480 ms (missed cycles : 4).[0m ×2 + 29.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.803ms + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924429 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924429 ms (missed cycles : 2).[0m ×2 + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 30.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 31.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009769 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009769 ms (missed cycles : 2).[0m ×2 + 31.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703664 ms (missed cycles : 4). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703664 ms (missed cycles : 4).[0m ×2 + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963693 ms (missed cycles : 3). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963693 ms (missed cycles : 3).[0m ×2 + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042421 ms (missed cycles : 4). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042421 ms (missed cycles : 4).[0m ×2 + 35.13sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270158 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270158 ms (missed cycles : 3).[0m ×2 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222622 ms (missed cycles : 4). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222622 ms (missed cycles : 4).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826746 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826746 ms (missed cycles : 3).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388989 ms (missed cycles : 4). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388989 ms (missed cycles : 4).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509877 ms (missed cycles : 3). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509877 ms (missed cycles : 3).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263531 ms (missed cycles : 4). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263531 ms (missed cycles : 4).[0m ×2 + 41.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 41.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716443 ms (missed cycles : 2). + 41.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716443 ms (missed cycles : 2).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936802 ms (missed cycles : 3). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936802 ms (missed cycles : 3).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698485 ms (missed cycles : 3). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698485 ms (missed cycles : 3).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873609 ms (missed cycles : 3). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873609 ms (missed cycles : 3).[0m ×2 + 46.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910591 ms (missed cycles : 3). + 46.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910591 ms (missed cycles : 3).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240931 ms (missed cycles : 2). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240931 ms (missed cycles : 2).[0m ×2 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641229 ms (missed cycles : 3). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641229 ms (missed cycles : 3).[0m ×2 + 49.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756901 ms (missed cycles : 3). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756901 ms (missed cycles : 3).[0m ×2 + 50.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988890 ms (missed cycles : 3). + 50.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988890 ms (missed cycles : 3).[0m ×2 + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388305 ms (missed cycles : 4). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.388305 ms (missed cycles : 4).[0m ×2 + 51.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097855 ms (missed cycles : 2). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097855 ms (missed cycles : 2).[0m ×2 + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002926 ms (missed cycles : 2). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002926 ms (missed cycles : 2).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024190 ms (missed cycles : 4). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024190 ms (missed cycles : 4).[0m ×2 + 55.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433984 ms (missed cycles : 2). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433984 ms (missed cycles : 2).[0m ×2 + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 57.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 57.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 58.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 58.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 59.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 59.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 59.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 60.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 60.89sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.89sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 60.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.878ms + 61.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 61.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 61.35sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.78sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 61.95sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 63.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	56.8s	188 warnings · 191 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787534630.18080950 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.226ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787534630.76713014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2).[0m ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734049 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734049 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943816 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943816 ms (missed cycles : 2).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.446ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241827 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241827 ms (missed cycles : 3).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.656ms + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.388ms + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397584 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397584 ms (missed cycles : 3).[0m ×2 + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.426ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461564 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461564 ms (missed cycles : 3).[0m ×2 + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.061ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.715ms + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476737 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476737 ms (missed cycles : 3).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.278ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785015 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785015 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.237ms + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162979 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162979 ms (missed cycles : 2).[0m ×2 + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.371ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.809ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167101 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167101 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 4384 particles 723 points - 5.385ms + 15.90sINFOamclParticle filter update iteration stats: 3969 particles 723 points - 5.385ms + 16.40sINFOamclParticle filter update iteration stats: 3201 particles 723 points - 3.977ms + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802506 ms (missed cycles : 3). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802506 ms (missed cycles : 3).[0m ×2 + 16.90sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 3.044ms + 17.40sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.790ms + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981709 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981709 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856890 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856890 ms (missed cycles : 2).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583581 ms (missed cycles : 4). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.583581 ms (missed cycles : 4).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338699 ms (missed cycles : 3). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338699 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469905 ms (missed cycles : 3). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469905 ms (missed cycles : 3).[0m ×2 + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814248 ms (missed cycles : 3). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814248 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 23.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105225 ms (missed cycles : 2). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105225 ms (missed cycles : 2).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 25.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249956 ms (missed cycles : 5). + 25.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249956 ms (missed cycles : 5).[0m ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022122 ms (missed cycles : 2). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022122 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470435 ms (missed cycles : 4). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.470435 ms (missed cycles : 4).[0m ×2 + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196947 ms (missed cycles : 4). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196947 ms (missed cycles : 4).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498042 ms (missed cycles : 3). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498042 ms (missed cycles : 3).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770319 ms (missed cycles : 3). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770319 ms (missed cycles : 3).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445233 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445233 ms (missed cycles : 2).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600730 ms (missed cycles : 3). + 32.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600730 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202767 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202767 ms (missed cycles : 2).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms ×2 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919844 ms (missed cycles : 2). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919844 ms (missed cycles : 2).[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425497 ms (missed cycles : 3). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425497 ms (missed cycles : 3).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129046 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129046 ms (missed cycles : 2).[0m ×2 + 37.00sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.68sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211519 ms (missed cycles : 4). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.211519 ms (missed cycles : 4).[0m ×2 + 38.01sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013854 ms (missed cycles : 4). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013854 ms (missed cycles : 4).[0m ×2 + 39.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259616 ms (missed cycles : 2). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259616 ms (missed cycles : 2).[0m ×2 + 39.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770262 ms (missed cycles : 3). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770262 ms (missed cycles : 3).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793019 ms (missed cycles : 3). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793019 ms (missed cycles : 3).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015474 ms (missed cycles : 3). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015474 ms (missed cycles : 3).[0m ×2 + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587723 ms (missed cycles : 4). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587723 ms (missed cycles : 4).[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525290 ms (missed cycles : 3). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525290 ms (missed cycles : 3).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951357 ms (missed cycles : 4). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951357 ms (missed cycles : 4).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973242 ms (missed cycles : 3). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973242 ms (missed cycles : 3).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918366 ms (missed cycles : 2). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918366 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363536 ms (missed cycles : 4). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363536 ms (missed cycles : 4).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878119 ms (missed cycles : 3). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878119 ms (missed cycles : 3).[0m ×2 + 50.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405234 ms (missed cycles : 3). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405234 ms (missed cycles : 3).[0m ×2 + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295429 ms (missed cycles : 4). + 52.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295429 ms (missed cycles : 4).[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921032 ms (missed cycles : 3). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921032 ms (missed cycles : 3).[0m ×2 + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628592 ms (missed cycles : 3). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628592 ms (missed cycles : 3).[0m ×2 + 54.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138612 ms (missed cycles : 2). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138612 ms (missed cycles : 2).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986673 ms (missed cycles : 5). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986673 ms (missed cycles : 5).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 57.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642791 ms (missed cycles : 4). + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642791 ms (missed cycles : 4).[0m ×2 + 58.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874677 ms (missed cycles : 3). + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874677 ms (missed cycles : 3).[0m ×2 + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347944 ms (missed cycles : 3). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347944 ms (missed cycles : 3).[0m ×2 + 60.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787534687.01727438 seconds ×3 + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.90sWARNlocal_costmap.local_costmapSensor origin at (-2.53, 11.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.852ms + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044745 ms (missed cycles : 3). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044745 ms (missed cycles : 3).[0m ×2 + 61.41sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787534687.60935521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.80sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 62.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998706 ms (missed cycles : 3). + 62.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998706 ms (missed cycles : 3).[0m ×2 + 62.52sWARNglobal_costmap.global_costmapSensor origin at (4.91, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 62.52sWARNglobal_costmap.global_costmapSensor origin at (4.11, -3.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 63.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110622 ms (missed cycles : 2). + 63.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110622 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	141 warnings · 266 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.54sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857753 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857753 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169113 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169113 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736801 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736801 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964144 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964144 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689373 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689373 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762703 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762703 ms (missed cycles : 3).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172765 ms (missed cycles : 4). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172765 ms (missed cycles : 4).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177606 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177606 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687881 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687881 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263035 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263035 ms (missed cycles : 2).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314249 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314249 ms (missed cycles : 2).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704356 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704356 ms (missed cycles : 2).[0m ×2 + 20.24sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 2.036ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754743 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754743 ms (missed cycles : 3).[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024850 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024850 ms (missed cycles : 2).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964514 ms (missed cycles : 2). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964514 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959863 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959863 ms (missed cycles : 2).[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491799 ms (missed cycles : 2). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491799 ms (missed cycles : 2).[0m ×2 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433498 ms (missed cycles : 3). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433498 ms (missed cycles : 3).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242000 ms (missed cycles : 2). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242000 ms (missed cycles : 2).[0m ×2 + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017636 ms (missed cycles : 3). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017636 ms (missed cycles : 3).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932912 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932912 ms (missed cycles : 2).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803878 ms (missed cycles : 3). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803878 ms (missed cycles : 3).[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918233 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918233 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940670 ms (missed cycles : 2). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940670 ms (missed cycles : 2).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871676 ms (missed cycles : 2). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871676 ms (missed cycles : 2).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695013 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695013 ms (missed cycles : 2).[0m ×2 + 35.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716190 ms (missed cycles : 3). + 35.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716190 ms (missed cycles : 3).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243250 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243250 ms (missed cycles : 2).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758265 ms (missed cycles : 3). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758265 ms (missed cycles : 3).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307819 ms (missed cycles : 2).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873425 ms (missed cycles : 2). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873425 ms (missed cycles : 2).[0m ×2 + 40.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184470 ms (missed cycles : 2). + 40.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184470 ms (missed cycles : 2).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791656 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791656 ms (missed cycles : 2).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117687 ms (missed cycles : 2). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117687 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2). + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 47.16sINFOjoint_trajectory_controllerGoal reached, success! + 47.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 47.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 47.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.44sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 47.76sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 48.85sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 48.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	110 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798600 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798600 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485412 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485412 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994859 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994859 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.82sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787534597.73487782 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971989 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971989 ms (missed cycles : 2).[0m ×2 + 3.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 3.84sINFOros2_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 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.39sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787534599.31066990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089752 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089752 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014143 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014143 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075775 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075775 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931474 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931474 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094954 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094954 ms (missed cycles : 2).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.523ms + 9.29sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554432 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554432 ms (missed cycles : 3).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.692ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345368 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345368 ms (missed cycles : 3).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.476ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.180ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010225 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010225 ms (missed cycles : 2).[0m ×2 + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 12.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.628ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151051 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151051 ms (missed cycles : 4).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.890ms + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.344ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963908 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963908 ms (missed cycles : 3).[0m ×2 + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.584ms + 14.79sINFOamclParticle filter update iteration stats: 4239 particles 723 points - 6.330ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828873 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828873 ms (missed cycles : 2).[0m ×2 + 15.28sINFOamclParticle filter update iteration stats: 3409 particles 723 points - 5.342ms + 15.79sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 3.690ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002589 ms (missed cycles : 5). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002589 ms (missed cycles : 5).[0m ×2 + 16.28sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 3.091ms + 16.78sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 2.662ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636418 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636418 ms (missed cycles : 2).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.580ms + 17.78sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 2.848ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310912 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310912 ms (missed cycles : 2).[0m ×2 + 18.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 18.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138046 ms (missed cycles : 3). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138046 ms (missed cycles : 3).[0m ×2 + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.092ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617497 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617497 ms (missed cycles : 3).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948073 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948073 ms (missed cycles : 2).[0m ×2 + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045659 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045659 ms (missed cycles : 2).[0m ×2 + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938218 ms (missed cycles : 3). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938218 ms (missed cycles : 3).[0m ×2 + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363014 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363014 ms (missed cycles : 3).[0m ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086780 ms (missed cycles : 4). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086780 ms (missed cycles : 4).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102275 ms (missed cycles : 4). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102275 ms (missed cycles : 4).[0m ×2 + 26.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676471 ms (missed cycles : 3). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676471 ms (missed cycles : 3).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806143 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806143 ms (missed cycles : 3).[0m ×2 + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324468 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324468 ms (missed cycles : 2).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116614 ms (missed cycles : 4). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116614 ms (missed cycles : 4).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3).[0m ×2 + 34.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4).[0m ×2 + 35.26sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787534630.18080950 seconds ×3 + 35.39sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.39sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 35.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.226ms + 35.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787534630.76713014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2). + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2).[0m ×2 + 36.27sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.3s	62 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405456 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793194 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793194 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523908 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523908 ms (missed cycles : 4).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.24sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1787534835.15033984 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317848 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317848 ms (missed cycles : 2).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.129ms + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 7.19) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.39, 7.21) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.321ms + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1787534835.74609613 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080247 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080247 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829425 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829425 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635835 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635835 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871186 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871186 ms (missed cycles : 3).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163469 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163469 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976991 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976991 ms (missed cycles : 3).[0m ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 10.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 10.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.23sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 10.30sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 10.41sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 10.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766839 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766839 ms (missed cycles : 3).[0m ×2 + 11.16sINFOobjective_server_nodeFound path in 146 iterations (0.102083 s). ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_____X] ×2 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889693 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889693 ms (missed cycles : 3).[0m ×2 + 12.22sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.31sINFOros2_control_nodeMuJoCo sim: 2.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 12.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536512 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536512 ms (missed cycles : 2).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177109 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177109 ms (missed cycles : 2).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.154ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.797ms + 16.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.971ms + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2).[0m ×2 + 18.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787534850.46338367 seconds ×3 + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 19.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534851.08211470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.17sINFOmove_groupClearing octomap...[0m ×2 + 19.17sINFOmove_groupOctomap cleared.[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2).[0m ×2 + 19.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534851.60223913 seconds ×3 + 20.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534852.19181585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2).[0m ×2 + 20.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534852.74197292 seconds ×3 + 21.08sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	98 errors · 33 warnings · 431 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.797ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.971ms + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787534850.46338367 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534851.08211470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.48sINFOmove_groupClearing octomap...[0m ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534851.60223913 seconds ×3 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534852.19181585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534852.74197292 seconds ×3 + 5.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494503 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494503 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116649 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116649 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910019 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910019 ms (missed cycles : 3).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414894 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414894 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386006 ms (missed cycles : 3). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386006 ms (missed cycles : 3).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209594 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209594 ms (missed cycles : 2).[0m ×2 + 11.14sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.20sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORweb_video_auth_proxy-35process has died [pid 9567, 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 + 11.20sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.23sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_bridge_auth_proxy-34process has died [pid 9566, 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 + 11.23sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.30sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.33sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.35sINFOvideo_server-33process has finished cleanly [pid 9564] ×2 + 11.35sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.38sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.40sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.43sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.45sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.48sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.52sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.54sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.57sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.57sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9563] ×2 + 11.58sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.61sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.64sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.64sINFOcontroller_managerShutdown request received.... + 11.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.64sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.64sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.64sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.64sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.64sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.64sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.64sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.64sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.64sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.64sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.65sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.65sINFOcontroller_managerShutting down the controller manager. + 11.67sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1787534858.975 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.67sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.68sERRORmove_group-21process has died [pid 9549, 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_9rwy0b54 --params-file /tmp/launch_params_7_z899ei --params-file /tmp/launch_params_4uilsfvu --params-file /tmp/launch_params_iowvc6r8 --params-file /tmp/launch_params__l9kzmyq --params-file /tmp/launch_params_h2n9a6gl']. ×2 + 11.71sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.71sINFOui_teleop_bridge-30process has finished cleanly [pid 9560] ×2 + 11.71sINFOcomponent_container_mt-28process has finished cleanly [pid 9558] ×2 + 11.74sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.74sINFOexecute_objective_bridge-29process has finished cleanly [pid 9559] ×2 + 11.77sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.79sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.82sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.84sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.84sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.84sINFOmap_serverDeactivating + 11.84sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.85sINFOmap_serverCleaning up + 11.85sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.85sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.87sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.87sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.87sINFOcontroller_serverDeactivating + 11.87sINFOlocal_costmap.local_costmapDeactivating + 11.87sINFOvideo_server2026/08/24 01:27:38 INF shutting down gracefully ×2 + 11.87sINFOvideo_server2026/08/24 01:27:38 INF [WebRTC] closing ×2 + 11.87sINFOvideo_server2026/08/24 01:27:38 INF [RTSP] closing ×2 + 11.87sINFOvideo_server2026/08/24 01:27:38 INF waiting for running hooks ×2 + 11.87sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.87sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.87sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.87sERRORamclThe bond connection to the lifecycle manager has been broken + 11.87sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.87sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.87sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.87sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.88sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.88sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.88sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.88sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.88sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.88sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.88sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.88sERRORmove_groupStack trace (most recent call last) in thread 10181: ×2 + 11.88sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.88sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8872b7a63, in __clone ×2 + 11.88sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd88722aaa3, in ×2 + 11.88sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd8874bcdb3, in ×2 + 11.88sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd887c2da67, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.88sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd88784e620, in rclcpp::Rate::sleep() ×2 + 11.88sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd887790d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.88sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd887752087, in ×2 + 11.88sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd88748b390, in __cxa_throw ×2 + 11.88sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd887475a54, in std::terminate() ×2 + 11.88sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd88748b0d9, in ×2 + 11.88sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd887475ff4, in ×2 + 11.88sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8871b68fe, in abort ×2 + 11.88sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8871d327d, in raise ×2 + 11.88sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd88722cb2c, in pthread_kill ×2 + 11.88sERRORmove_groupAborted (Signal sent by tkill() 9549 0) ×2 + 11.88sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.88sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.88sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.88sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.88sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.88sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.89sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.89sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.89sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.89sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.89sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.89sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.89sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.89sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.89sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.89sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.89sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.89sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.89sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.89sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.89sINFOodom_qos_relay.pymain() ×2 + 11.89sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.89sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.89sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.89sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.89sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.89sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.89sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.89sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.89sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.89sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.89sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.90sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.90sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.90sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.90sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.90sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.91sINFOcontroller_serverCleaning up + 11.91sINFOlocal_costmap.local_costmapCleaning up + 11.95sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.95sINFOsmoother_serverDeactivating + 11.95sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.96sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.96sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.96sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.96sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.96sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.96sINFOvelocity_smootherDeactivating + 11.96sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.96sINFOsmoother_serverCleaning up + 11.98sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.98sINFOplanner_serverDeactivating + 11.98sINFOglobal_costmap.global_costmapDeactivating + 12.07sERRORcomponent_container_isolated-2process has died [pid 9435, 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_53p5ic2l --params-file /tmp/launch_params_70kwwp0x -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.07sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.07sINFOwaypoint_followerDeactivating + 12.07sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.11sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.11sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.12sINFOplanner_serverCleaning up + 12.14sINFOglobal_costmap.global_costmapCleaning up + 12.15sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.15sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.18sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.18sINFObt_navigatorDeactivating + 12.18sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.18sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.18sINFObehavior_serverDeactivating + 12.18sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.19sINFObehavior_serverCleaning up + 12.20sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.20sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.20sINFOwaypoint_followerCleaning up + 12.21sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.21sINFOvelocity_smootherCleaning up + 12.21sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.30sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.30sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.30sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.30sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.30sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.30sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.30sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.30sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.32sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.32sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.32sINFObt_navigatorCleaning up + 12.50sINFObt_navigatorCompleted Cleaning up + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.50sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.50sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.50sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.54sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9555] ×2 + 12.57sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9554] ×2 + 12.64sINFOwaypoint_manager_node-23process has finished cleanly [pid 9551] ×2 + 12.64sINFOparameter_manager_node-22process has finished cleanly [pid 9550] ×2 + 12.64sINFOobjective_server_node[2026-08-24 01:27:40.246] [moveit_pro_license] [critical] ×2 + 12.64sINFOobjective_server_node************************************************* ×4 + 12.64sINFOobjective_server_node* MoveIt Pro License ×2 + 12.64sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.66sINFOcomponent_container_mt-27process has finished cleanly [pid 9557] ×2 + 12.71sINFOobjective_server_node_main-26process has finished cleanly [pid 9556] ×2 + 12.71sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.72sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9441] ×2 + 12.75sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9440] ×2 + 12.81sERRORcomponent_container_isolated-1process has died [pid 9434, 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_53p5ic2l --params-file /tmp/launch_params_bdobycik -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.84sINFOstatic_transform_publisher-4process has finished cleanly [pid 9437] ×2 + 12.85sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9439] ×2 + 12.86sINFOstatic_transform_publisher-3process has finished cleanly [pid 9436] ×2 + 12.86sERRORodom_qos_relay.py-5process has died [pid 9438, 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 + 14.30sINFOweb_bridge-31process has finished cleanly [pid 9561] ×2 + 14.30sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.37sINFOros2_control_node-9process has finished cleanly [pid 9442] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 63 warnings · 113 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986673 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986673 ms (missed cycles : 5).[0m ×2 + 0.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.840ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642791 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642791 ms (missed cycles : 4).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874677 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874677 ms (missed cycles : 3).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347944 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347944 ms (missed cycles : 3).[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1787534687.01727438 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.13sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.13sWARNlocal_costmap.local_costmapSensor origin at (-2.53, 11.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.852ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044745 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044745 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1787534687.60935521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998706 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998706 ms (missed cycles : 3).[0m ×2 + 5.74sWARNglobal_costmap.global_costmapSensor origin at (4.91, -2.91) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 5.74sWARNglobal_costmap.global_costmapSensor origin at (4.11, -3.32) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110622 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110622 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________________X] ×2 + 7.22sINFOjoint_trajectory_controllerReceived new action goal + 7.22sINFOjoint_trajectory_controllerAccepted new action goal + 7.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831310 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831310 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252959 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252959 ms (missed cycles : 2).[0m ×2 + 8.74sWARNglobal_costmap.global_costmapSensor origin at (4.00, -3.24) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081018 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081018 ms (missed cycles : 2).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.186ms + 9.74sWARNglobal_costmap.global_costmapSensor origin at (3.71, -2.96) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.783ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976773 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976773 ms (missed cycles : 2).[0m ×2 + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.851ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.448ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965681 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965681 ms (missed cycles : 2).[0m ×2 + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 12.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.255ms + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286670 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286670 ms (missed cycles : 2).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.121ms + 13.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.122ms + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.948ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812792 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812792 ms (missed cycles : 2).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.204ms + 14.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.042ms + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441852 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441852 ms (missed cycles : 3).[0m ×2 + 15.05sINFOobjective_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 + 15.05sINFOjoint_trajectory_controllerGot request to cancel goal + 15.05sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.08sERRORobjective_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: 1787534698.05225825 seconds ×3 + 15.13sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 3.23) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.13sWARNlocal_costmap.local_costmapSensor origin at (-1.54, 3.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 15.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 15.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.819ms + 15.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1787534698.63338256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014432 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014432 ms (missed cycles : 3).[0m ×2 + 16.12sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084680 ms (missed cycles : 4). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084680 ms (missed cycles : 4).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.2s	44 warnings · 94 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798600 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798600 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485412 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485412 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994859 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994859 ms (missed cycles : 2).[0m ×2 + 10.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1787534597.73487782 seconds ×3 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971989 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971989 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1787534599.31066990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089752 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089752 ms (missed cycles : 2).[0m ×2 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014143 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014143 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075775 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075775 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	43 warnings · 95 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004403 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004403 ms (missed cycles : 4).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950260 ms (missed cycles : 5). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950260 ms (missed cycles : 5).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733628 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733628 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961450 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961450 ms (missed cycles : 2).[0m ×2 + 3.50sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.50sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1787534771.22354937 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.60sWARNlocal_costmap.local_costmapSensor origin at (-2.25, 13.97) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.60sWARNlocal_costmap.local_costmapSensor origin at (-3.02, 13.50) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.927ms + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 4.80) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 4.64) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.276ms + 4.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1787534771.80635023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841119 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841119 ms (missed cycles : 3).[0m ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal + 4.66sINFOjoint_trajectory_controllerAccepted new action goal + 4.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251580 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251580 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 10.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.4s	27 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.40sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.68sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787534534.44484973 seconds ×3 + 7.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787534535.03134751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3).[0m ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	21 warnings · 81 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.822ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.154ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.797ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.971ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787534850.46338367 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 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.17sINFOros2_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 + 4.19sINFOcontroller_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 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534851.08211470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.78sINFOmove_groupClearing octomap...[0m ×2 + 4.78sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534851.60223913 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534852.19181585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534852.74197292 seconds ×3 + 6.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494503 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494503 ms (missed cycles : 3).[0m ×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 1.697418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.53sINFOmove_groupClearing octomap...[0m ×2 + 1.54sINFOmove_groupOctomap cleared.[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787534630.18080950 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.226ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787534630.76713014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 - 8.822ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.154ms + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381497 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.746ms + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380760 ms (missed cycles : 3).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.797ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.971ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976611 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255310 ms (missed cycles : 2).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1787534850.46338367 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 + 4.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.17sINFOros2_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 + 4.19sINFOcontroller_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 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.851ms + 4.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787534851.08211470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.78sINFOmove_groupClearing octomap...[0m ×2 + 4.78sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097269 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787534851.60223913 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787534852.19181585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667066 ms (missed cycles : 2).[0m ×2 + 6.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787534852.74197292 seconds ×3 + 6.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 51 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398070 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840223 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637199 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.13sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328986 ms (missed cycles : 2).[0m ×2 + 0.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1787534531.03865361 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.58sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.360ms + 0.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1787534531.62472415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878367 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (3.4709e-05 s). ×2 + 2.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sINFOjoint_trajectory_controllerReceived new action goal + 2.03sINFOjoint_trajectory_controllerAccepted new action goal + 2.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140748 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147697 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1787534534.44484973 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1787534535.03134751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603858 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886073 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	23 warnings · 52 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816336 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767495 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632417 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662817 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1787534591.48148179 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.96) 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 - 3.878ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737434 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1787534592.06475496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193661 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587929 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787534630.18080950 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.226ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787534630.76713014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309156 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.825ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463629 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411476 ms (missed cycles : 3).[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207660 ms (missed cycles : 4).[0m ×2 + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1787534630.18080950 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.10sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.85) is out of map bounds (-2.60, -2.50) to (2.38, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.226ms + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1787534630.76713014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935075 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961603 ms (missed cycles : 2).[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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 5.248291 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248291 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104079 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618230 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359185 ms (missed cycles : 3).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! + 3.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1787534777.75654006 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798590 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1787534778.36020398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530618 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797464 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 · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_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/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×12 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787082 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_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 1.794111 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 6.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 205 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247098 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178941 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697418 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794111 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787534485.39302540 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787534485.40323400 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054455 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787534485.99996018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787534486.01008439 seconds ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787534486.58576345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787534486.73630452 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337679 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787534487.33852077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_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 + 4.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787534487.38864803 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1787534487.96708322 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2). + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927114 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495314 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2