73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.8s | 12 errors · 318 warnings · 1525 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/2026-09-04-00-19-51-267130-837e19ae6911-7575 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.30sINFOstatic_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' + 4.31sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.31sINFOstatic_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' + 4.32sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.58sINFOcontroller_managerupdate rate is 600 Hz + 4.58sINFOcontroller_managerOverruns handling is : enabled + 4.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.58sWARNcontroller_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. + 4.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.60sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.62sINFOros2_control_node-12process started with pid [7717] ×2 + 4.62sINFOmove_group-24process started with pid [7731] ×2 + 4.62sINFOparameter_manager_node-25process started with pid [7780] ×2 + 4.62sINFOwaypoint_manager_node-26process started with pid [7781] ×2 + 4.62sINFOmove_joint_resampler_node-27process started with pid [7782] ×2 + 4.62sINFOmove_end_effector_resampler_node-28process started with pid [7783] ×2 + 4.62sINFOobjective_server_node_main-29process started with pid [7784] ×2 + 4.62sINFOcomponent_container_mt-30process started with pid [7785] ×2 + 4.62sINFOcomponent_container_mt-31process started with pid [7787] ×2 + 4.62sINFOexecute_objective_bridge-32process started with pid [7805] ×2 + 4.62sINFOui_teleop_bridge-33process started with pid [7806] ×2 + 4.63sINFOweb_bridge-34process started with pid [7809] ×2 + 4.63sINFOtf2_web_republisher_node-35process started with pid [7814] ×2 + 4.63sINFOvideo_server-36process started with pid [7815] ×2 + 4.63sINFOweb_bridge_auth_proxy-37process started with pid [7816] ×2 + 4.63sINFOweb_video_auth_proxy-38process started with pid [7817] ×2 + 4.65sINFOcomponent_container_isolated-1process started with pid [7625] ×2 + 4.65sINFOcomponent_container_isolated-2process started with pid [7626] ×2 + 4.65sINFOstatic_transform_publisher-3process started with pid [7627] ×2 + 4.65sINFOstatic_transform_publisher-4process started with pid [7628] ×2 + 4.65sINFOodom_qos_relay.py-5process started with pid [7629] ×2 + 4.65sINFOforward_stereo_publisher.py-6process started with pid [7630] ×2 + 4.65sINFOlidar_flattener.py-7process started with pid [7631] ×2 + 4.65sINFOstatic_transform_publisher-8process started with pid [7632] ×2 + 4.65sINFOstatic_transform_publisher-9process started with pid [7633] ×2 + 4.65sINFOscan_to_scan_filter_chain-10process started with pid [7715] ×2 + 4.65sINFOscan_to_scan_filter_chain-11process started with pid [7716] ×2 + 4.65sINFOros2-13process started with pid [7718] ×2 + 4.65sINFOros2-14process started with pid [7719] ×2 + 4.65sINFOros2-15process started with pid [7720] ×2 + 4.65sINFOros2-16process started with pid [7721] ×2 + 4.65sINFOros2-17process started with pid [7722] ×2 + 4.65sINFOros2-18process started with pid [7723] ×2 + 4.65sINFOros2-19process started with pid [7724] ×2 + 4.65sINFOros2-20process started with pid [7725] ×2 + 4.65sINFOros2-21process started with pid [7726] ×2 + 4.65sINFOros2-22process started with pid [7727] ×2 + 4.65sINFOros2-23process started with pid [7728] ×2 + 4.65sINFOcontroller_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. + 4.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.69sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.69sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.69sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.69sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.69sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.69sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.69sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.69sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.69sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.69sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.69sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.69sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.69sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.69sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.69sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.69sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.69sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.69sWARNros2_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 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373042 ms (missed cycles : 6). + 4.70sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373042 ms (missed cycles : 6).[0m ×2 + 4.78sINFOcontroller_serverCreating controller server + 4.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.80sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.80sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOlocal_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. + 4.84sINFOlocal_costmap.local_costmapCreating Costmap + 4.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.87sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.87sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.90sINFOvideo_server2026/09/04 00:19:57 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.90sINFOvideo_server2026/09/04 00:19:57 INF configuration loaded from /tmp/moveit-webrtc-l0a32k7c/mediamtx.yml ×2 + 4.90sINFOvideo_server2026/09/04 00:19:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.90sINFOvideo_server2026/09/04 00:19:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.90sINFOrobot_state_publisherRobot initialized + 4.90sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.90sINFOcontroller_managerReceived robot description from topic. + 4.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.91sINFOmap_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. + 4.91sINFOmap_serverCreating + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.93sINFOsmoother_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. + 4.93sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.94sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.94sINFOsmoother_serverCreating smoother server + 4.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.94sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.96sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.99sINFOplanner_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. + 5.01sINFOplanner_serverCreating + 5.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.02sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.05sINFOglobal_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. + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.05sINFOglobal_costmap.global_costmapCreating Costmap + 5.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.07sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.12sINFObehavior_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. + 5.13sINFOlifecycle_manager_localizationCreating + 5.15sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.16sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.16sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.16sINFOmap_serverConfiguring + 5.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.20sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.20sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.21sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.22sINFOamclConfiguring + 5.22sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.37925 seconds + 5.22sINFObt_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. + 5.22sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.22sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.22sINFOmove_groupLoaded robot model in 0.37925 seconds[0m ×2 + 5.22sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.22sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.23sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.23sINFOmap_serverActivating + 5.23sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.23sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.23sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.24sINFObt_navigatorCreating + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOwaypoint_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. + 5.28sINFOwaypoint_followerCreating + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.32sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.33sINFOvelocity_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. + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.34sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.34sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.34sINFOamclActivating + 5.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.34sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.35sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.37sINFOamclSubscribed to map_topic: /map + 5.37sINFOamclSubscribed to scan_topic: /scan_merged + 5.37sINFOamclCreated reinitialize_global_localization service + 5.37sINFOamclCreated request_nomotion_update service + 5.39sINFOamclA new map was received + 5.39sINFOamclInitializing particle filter instance + 5.40sINFOlifecycle_manager_navigationCreating + 5.44sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.47sWARNlaser_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. + 5.47sWARNscan_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 + 5.47sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.47sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.47sINFOcontroller_serverConfiguring controller interface + 5.47sINFOcontroller_servergetting progress checker plugins.. + 5.47sINFOcontroller_servergetting goal checker plugins.. + 5.47sINFOcontroller_serverController frequency set to 20.0000Hz + 5.47sINFOlocal_costmap.local_costmapConfiguring + 5.47sWARNlaser_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. + 5.48sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.51sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.54sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.54sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.54sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.58sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.58sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.59sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.59sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.60sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.62sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.64sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.64sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.65sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.65sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.66sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.67sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.67sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.68sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.69sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.69sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.69sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.70sINFOcontroller_serverOptimizer reset ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427851 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427851 ms (missed cycles : 3).[0m ×2 + 5.71sINFOcontroller_serverController Server has FollowPath controllers available. + 5.73sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.73sINFOsmoother_serverConfiguring smoother server + 5.77sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.78sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.81sINFOplanner_serverConfiguring + 5.81sINFOglobal_costmap.global_costmapConfiguring + 5.85sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.85sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.85sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.85sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.85sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.88sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.88sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.89sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.96sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.97sINFOplanner_serverPlanner Server has GridBased planners available. + 6.01sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.01sINFObehavior_serverConfiguring + 6.02sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.03sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.03sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.05sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.06sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.07sINFObehavior_serverConfiguring spin + 6.07sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.07sWARNmove_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. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.09sWARNmove_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 + 6.09sWARNmove_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 + 6.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.09sWARNmove_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 + 6.09sWARNmove_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 + 6.09sWARNmove_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 + 6.09sWARNmove_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 + 6.10sINFObehavior_serverConfiguring backup + 6.12sINFObehavior_serverConfiguring drive_on_heading + 6.14sINFObehavior_serverConfiguring assisted_teleop + 6.15sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.15sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.16sINFObehavior_serverConfiguring wait + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.18sINFObt_navigatorConfiguring + 6.19sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.21sWARNbt_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 + 6.22sINFOamclParticle filter initialization completed + 6.22sINFOamclInitializing particles from estimated pose and covariance + 6.22sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.22sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.24sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.24sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.24sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.32sINFOmove_group[2026-09-04 00:19:59.295] [moveit_pro_license] [info] ×2 + 6.32sINFOmove_group************************************************* ×4 + 6.32sINFOmove_group* MoveIt Pro License ×2 + 6.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.41sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.41sINFOwaypoint_manager_nodeLoaded robot model in 0.443319 seconds[0m ×2 + 6.41sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.41sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.45sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.45sINFOwaypoint_followerConfiguring + 6.48sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.48sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.48sINFOvelocity_smootherConfiguring velocity smoother + 6.50sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.50sINFOcontroller_serverActivating + 6.50sINFOlocal_costmap.local_costmapActivating + 6.50sINFOlocal_costmap.local_costmapChecking transform + 6.50sINFOlocal_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. ×11 + 6.65sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.65sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.65sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.65sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.69sINFOros2_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 + 6.69sINFOros2_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 + 6.76sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.76sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.76sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.76sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.77sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.77sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.77sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.77sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.77sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.77sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.77sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.77sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.78sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.78sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385298 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385298 ms (missed cycles : 2).[0m ×2 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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 + 6.85sWARNwaypoint_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 + 7.21sINFOwaypoint_manager_node[2026-09-04 00:20:00.177] [moveit_pro_license] [info] ×2 + 7.21sINFOwaypoint_manager_node************************************************* ×4 + 7.21sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.21sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.54sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.54sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.54sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.54sWARNros2_control_node19 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 + 7.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.54sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.54sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.54sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.55sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.55sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.55sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.55sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.55sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.55sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.55sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.66sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 7.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 7.66sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 7.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 7.67sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 7.67sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 7.67sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.70sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 7.70sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 7.70sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 7.70sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 7.71sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 7.71sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 7.71sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.71sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 7.71sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 7.80sINFOros2_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 + 7.80sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.80sWARNros2_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 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107845 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107845 ms (missed cycles : 2).[0m ×2 + 8.02sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.02sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.02sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.02sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 8.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 8.05sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.08sINFOros2-14process has finished cleanly [pid 7719] ×2 + 8.09sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.09sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.09sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.09sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.09sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.09sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.10sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.10sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.11sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.27sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.27sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.27sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.27sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.27sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.27sINFOstreaming_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) + 8.28sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.28sINFOcomponent_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 + 8.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.29sWARNcomponent_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 + 8.45sINFOobjective_server_node[2026-09-04 00:20:01.421] [moveit_pro_license] [info] ×2 + 8.45sINFOobjective_server_node************************************************* ×4 + 8.45sINFOobjective_server_node* MoveIt Pro License ×2 + 8.45sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.48sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.48sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.53sINFOstreaming_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) + 8.53sINFOcomponent_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 + 8.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.54sINFOobjective_server_nodeLoaded robot model in 0.0324963 seconds[0m ×2 + 8.54sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.54sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.56sINFOros2-17process has finished cleanly [pid 7722] ×2 + 8.56sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 8.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 8.66sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.66sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.66sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.66sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.66sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.66sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.66sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.67sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.67sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.72sINFOcomponent_container_mtLoaded robot model in 0.430452 seconds[0m ×2 + 8.72sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.72sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.96sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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. + 8.96sWARNobjective_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. + 8.96sWARNobjective_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. + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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. + 8.96sWARNobjective_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 + 8.96sWARNobjective_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 + 8.96sWARNobjective_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 + 8.96sWARNobjective_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 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973749 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973749 ms (missed cycles : 2).[0m ×2 + 9.00sINFOros2-19process has finished cleanly [pid 7724] ×2 + 9.03sINFOmove_groupMoveGroup debug mode is ON + 9.03sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.05sINFOobjective_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 + 9.05sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 9.05sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 9.05sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 9.08sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 9.08sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 9.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.10sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 9.10sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 9.10sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 9.10sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 9.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.12sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.20sWARNplanning_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. + 9.20sWARNplanning_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. + 9.20sWARNcomponent_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 + 9.20sWARNcomponent_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 + 9.24sINFOmove_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
********************************************************
+ 9.24sINFOmove_group ×8 + 9.24sINFOmove_group******************************************************** ×4 + 9.24sINFOmove_group* MoveGroup using: ×2 + 9.24sINFOmove_group* - apply_planning_scene_service ×2 + 9.24sINFOmove_group* - clear_octomap_service ×2 + 9.24sINFOmove_group* - get_group_urdf ×2 + 9.24sINFOmove_group* - load_geometry_from_file ×2 + 9.24sINFOmove_group* - get_planning_scene_service ×2 + 9.24sINFOmove_group* - kinematics_service ×2 + 9.24sINFOmove_group* - save_geometry_to_file ×2 + 9.24sINFOmove_group* - GetPlanningGroups ×2 + 9.24sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.24sINFOmove_group[0m ×2 + 9.24sINFOmove_group[92mYou can start planning now![0m ×2 + 9.34sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.34sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.39sINFOcomponent_container_mt[2026-09-04 00:20:02.364] [moveit_pro_license] [info] ×2 + 9.39sINFOcomponent_container_mt************************************************* ×4 + 9.39sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.39sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.55sINFOros2_control_node[2026-09-04 00:20:02.525] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.56sINFOros2_control_node[2026-09-04 00:20:02.528] [info] Controller state will be published at 10 Hz. ×2 + 9.56sINFOros2_control_node[2026-09-04 00:20:02.530] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.72sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.72sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.82sWARNros2_control_nodeCamera render tick took 1.20 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 + 9.85sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.86sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.86sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.86sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.88sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 9.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 9.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.91sWARNobjective_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 + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.94sINFOros2-21process has finished cleanly [pid 7726] ×2 + 9.95sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.95sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.95sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.95sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.95sINFOforce_torque_sensor_broadcasterconfigure successful + 9.95sINFOros2_control_nodeconfigure successful[0m ×6 + 9.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.96sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.96sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430343 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430343 ms (missed cycles : 3).[0m ×2 + 10.25sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.25sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.25sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.29sINFOros2-13process has finished cleanly [pid 7718] ×2 + 10.33sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 10.33sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 10.38sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.38sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.39sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.39sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 10.73sINFOros2_control_node[2026-09-04 00:20:03.704] [info] Controller state will be published at 20 Hz. ×2 + 10.73sINFOros2_control_node[2026-09-04 00:20:03.705] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.88sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788481201.581 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 11.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 11.09sINFOros2-23process has finished cleanly [pid 7728] ×2 + 11.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941021 ms (missed cycles : 3). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941021 ms (missed cycles : 3).[0m ×2 + 11.31sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.42sINFOros2_control_node[2026-09-04 00:20:04.392] [info] Controller state will be published at 20 Hz. ×2 + 11.42sINFOros2_control_node[2026-09-04 00:20:04.393] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.73sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.73sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.73sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.73sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.73sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 11.73sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 11.77sINFOros2-22process has finished cleanly [pid 7727] ×2 + 11.78sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.78sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.80sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.80sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.00sINFOlocal_costmap.local_costmapstart + 12.10sWARNcontroller_serverParameter controller_server.verbose not found + 12.10sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 12.13sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 12.14sINFOros2-15process has finished cleanly [pid 7720] ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510126 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510126 ms (missed cycles : 3).[0m ×2 + 12.18sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 12.18sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 12.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.19sINFOplatform_velocity_controllerconfigure successful + 12.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.19sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 12.19sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 12.21sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.21sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.21sINFOsmoother_serverActivating + 12.21sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.32sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.32sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.32sINFOplanner_serverActivating + 12.32sINFOglobal_costmap.global_costmapActivating + 12.32sINFOglobal_costmap.global_costmapChecking transform + 12.32sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 12.52sINFOros2-16process has finished cleanly [pid 7721] ×2 + 12.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 12.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 12.55sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788481204.598 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 5.703ms + 12.96sINFOros2_control_node[2026-09-04 00:20:05.929] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.96sINFOros2_control_node[2026-09-04 00:20:05.931] [info] Controller state will be published at 10 Hz. ×2 + 12.96sINFOros2_control_node[2026-09-04 00:20:05.932] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868773 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868773 ms (missed cycles : 2).[0m ×2 + 13.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.29sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.29sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 + 13.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.29sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bxr8umce --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_lj6rzqh0 --params-file /tmp/launch_params_9hrp0b00 [0m ×2 + 13.31sINFOros2-20process has finished cleanly [pid 7725] ×2 + 13.32sINFOglobal_costmap.global_costmapstart + 13.36sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.36sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.36sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.36sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.37sINFOplatform_velocity_controller_nav2configure successful + 13.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.71sINFOros2-18process has finished cleanly [pid 7723] ×2 + 14.37sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.37sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.48sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.48sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.48sINFObehavior_serverActivating + 14.48sINFObehavior_serverActivating spin + 14.48sINFObehavior_serverActivating backup + 14.48sINFObehavior_serverActivating drive_on_heading + 14.48sINFObehavior_serverActivating assisted_teleop + 14.48sINFObehavior_serverActivating wait + 14.48sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170635 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170635 ms (missed cycles : 2).[0m ×2 + 14.58sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.58sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.58sINFObt_navigatorActivating + 14.64sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.74sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.74sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.74sINFOwaypoint_followerActivating + 14.74sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.85sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.85sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.85sINFOvelocity_smootherActivating + 14.85sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.95sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.95sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.95sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.09sWARNros2_control_nodeCamera render tick took 0.54 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 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 15.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 17.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 18.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.64sINFOobjective_server_nodecaller: ×10 + 18.64sINFOobjective_server_nodetype: 0 ×10 + 18.64sINFOobjective_server_nodename: "" ×10 + 18.64sINFOobjective_server_nodeinstance_id: "" ×10 + 18.64sINFOobjective_server_node ×10 + 18.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.68sINFOmove_groupClearing octomap...[0m ×2 + 18.68sINFOmove_groupOctomap cleared.[0m ×2 + 18.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 19.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 19.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 19.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 20.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.59sINFOobjective_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 + 20.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.60sWARNros2_control_nodeCamera render tick took 0.52 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 + 20.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 21.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 21.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 64.2s | 3 errors · 294 warnings · 256 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 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 ×4 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.731ms + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.259ms + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461847 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461847 ms (missed cycles : 3).[0m ×2 + 1.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500327 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500327 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 2.42sINFOamclParticle filter update iteration stats: 4280 particles 723 points - 7.290ms + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150072 ms (missed cycles : 3). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150072 ms (missed cycles : 3).[0m ×2 + 3.04sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 5.981ms + 3.16sINFOobjective_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 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.17sERRORobjective_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: 1788481422.56343985 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.62sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 4.357ms + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.72sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.72sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.72sINFOobjective_server_nodecaller: ×4 + 3.72sINFOobjective_server_nodetype: 0 ×4 + 3.72sINFOobjective_server_nodename: "" ×4 + 3.72sINFOobjective_server_nodeinstance_id: "" ×4 + 3.72sINFOobjective_server_node ×4 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474556 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474556 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788481423.14567280 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.031ms + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118412 ms (missed cycles : 4). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118412 ms (missed cycles : 4).[0m ×2 + 5.33sWARNros2_control_nodeCamera render tick took 0.57 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 ×4 + 5.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657306 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657306 ms (missed cycles : 2).[0m ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883417 ms (missed cycles : 5). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883417 ms (missed cycles : 5).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042411 ms (missed cycles : 4). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042411 ms (missed cycles : 4).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.476ms + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395302 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395302 ms (missed cycles : 3).[0m ×2 + 9.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.723ms + 9.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.082ms + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756303 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756303 ms (missed cycles : 2).[0m ×2 + 10.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 11.03sINFOamclParticle filter update iteration stats: 3013 particles 723 points - 6.950ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661076 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661076 ms (missed cycles : 3).[0m ×2 + 11.62sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 4.123ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149045 ms (missed cycles : 4). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149045 ms (missed cycles : 4).[0m ×2 + 12.22sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.197ms + 12.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.999ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962529 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962529 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 14.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074362 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074362 ms (missed cycles : 2).[0m ×2 + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812272 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812272 ms (missed cycles : 2).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 15.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882035 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882035 ms (missed cycles : 4).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745749 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745749 ms (missed cycles : 3).[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176571 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828732 ms (missed cycles : 4). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828732 ms (missed cycles : 4).[0m ×2 + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656902 ms (missed cycles : 5). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656902 ms (missed cycles : 5).[0m ×2 + 20.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 21.29sWARNros2_control_nodeCamera render tick took 0.59 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 ×10 + 21.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×8 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274243 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274243 ms (missed cycles : 2).[0m ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.316ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387874 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387874 ms (missed cycles : 3).[0m ×2 + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816211 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816211 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms ×2 + 24.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679659 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679659 ms (missed cycles : 2).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490398 ms (missed cycles : 4). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.490398 ms (missed cycles : 4).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 26.77sWARNros2_control_nodeCamera render tick took 0.58 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 ×6 + 26.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998668 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998668 ms (missed cycles : 3).[0m ×2 + 27.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712172 ms (missed cycles : 3). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712172 ms (missed cycles : 3).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537424 ms (missed cycles : 2). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537424 ms (missed cycles : 2).[0m ×2 + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 29.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms ×2 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038997 ms (missed cycles : 2). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038997 ms (missed cycles : 2).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 31.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458670 ms (missed cycles : 3). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458670 ms (missed cycles : 3).[0m ×2 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 32.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722644 ms (missed cycles : 2). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722644 ms (missed cycles : 2).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.634ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221867 ms (missed cycles : 3). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221867 ms (missed cycles : 3).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773051 ms (missed cycles : 5). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773051 ms (missed cycles : 5).[0m ×2 + 34.79sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.79sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 35.12sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719052 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719052 ms (missed cycles : 2).[0m ×2 + 35.99sINFOobjective_server_nodePlanning for 14 path waypoints. ×6 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613888 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613888 ms (missed cycles : 3).[0m ×2 + 36.89sWARNros2_control_nodeCamera render tick took 0.63 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 + 36.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×4 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964430 ms (missed cycles : 4). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964430 ms (missed cycles : 4).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144025 ms (missed cycles : 3). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144025 ms (missed cycles : 3).[0m ×2 + 39.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.629ms + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720961 ms (missed cycles : 3). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720961 ms (missed cycles : 3).[0m ×2 + 40.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 40.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.318ms + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177936 ms (missed cycles : 4). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177936 ms (missed cycles : 4).[0m ×2 + 41.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522036 ms (missed cycles : 3). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522036 ms (missed cycles : 3).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780112 ms (missed cycles : 4). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780112 ms (missed cycles : 4).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135806 ms (missed cycles : 5). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135806 ms (missed cycles : 5).[0m ×2 + 44.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812372 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812372 ms (missed cycles : 3).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354336 ms (missed cycles : 2). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354336 ms (missed cycles : 2).[0m ×2 + 46.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 47.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964215 ms (missed cycles : 3). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964215 ms (missed cycles : 3).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.172ms + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686000 ms (missed cycles : 3). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686000 ms (missed cycles : 3).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139185 ms (missed cycles : 4). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139185 ms (missed cycles : 4).[0m ×2 + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242638 ms (missed cycles : 2). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242638 ms (missed cycles : 2).[0m ×2 + 51.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626607 ms (missed cycles : 2). + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626607 ms (missed cycles : 2).[0m ×2 + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420248 ms (missed cycles : 2). + 52.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420248 ms (missed cycles : 2).[0m ×2 + 53.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 53.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972926 ms (missed cycles : 2). + 53.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972926 ms (missed cycles : 2).[0m ×2 + 54.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 54.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652268 ms (missed cycles : 3). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652268 ms (missed cycles : 3).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568893 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568893 ms (missed cycles : 3).[0m ×2 + 56.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.203ms + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942500 ms (missed cycles : 5). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942500 ms (missed cycles : 5).[0m ×2 + 57.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.642ms + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158245 ms (missed cycles : 3). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158245 ms (missed cycles : 3).[0m ×2 + 58.38sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559164 ms (missed cycles : 3). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559164 ms (missed cycles : 3).[0m ×2 + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667135 ms (missed cycles : 3). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667135 ms (missed cycles : 3).[0m ×2 + 61.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598128 ms (missed cycles : 4). + 61.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598128 ms (missed cycles : 4).[0m ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924259 ms (missed cycles : 2). + 62.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924259 ms (missed cycles : 2).[0m ×2 + 62.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 63.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135138 ms (missed cycles : 3). + 63.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135138 ms (missed cycles : 3).[0m ×2 + 64.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299541 ms (missed cycles : 2). + 64.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299541 ms (missed cycles : 2).[0m ×2 + 64.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 65.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 65.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823345 ms (missed cycles : 3). + 65.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823345 ms (missed cycles : 3).[0m ×2 + 66.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796627 ms (missed cycles : 5). + 66.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796627 ms (missed cycles : 5).[0m ×2 + 67.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.608ms + 67.33sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788481486.71584582 seconds ×3 + 67.38sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.38sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 67.87sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 67.88sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 67.88sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 67.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788481487.29228115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486968 ms (missed cycles : 3). + 68.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486968 ms (missed cycles : 3).[0m ×2 + 68.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.672ms + 68.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 69.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257473 ms (missed cycles : 4). + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257473 ms (missed cycles : 4).[0m ×2 + 69.52sWARNros2_control_nodeCamera render tick took 0.55 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 + 70.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243528 ms (missed cycles : 3). + 70.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243528 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 241 warnings · 207 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.83sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788481263.30140162 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×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 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_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 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788481263.89111066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.48sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.797ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.07sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.361ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodeCamera render tick took 0.57 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 ×6 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081068 ms (missed cycles : 3). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081068 ms (missed cycles : 3).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146209 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146209 ms (missed cycles : 2).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.608ms + 9.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819695 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819695 ms (missed cycles : 2).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 10.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.30sWARNros2_control_nodeCamera render tick took 0.54 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 + 10.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217305 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217305 ms (missed cycles : 3).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778167 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778167 ms (missed cycles : 2).[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 13.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597923 ms (missed cycles : 3). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597923 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 14.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756308 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756308 ms (missed cycles : 3).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms ×2 + 15.59sWARNros2_control_nodeCamera render tick took 0.58 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 ×4 + 15.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021318 ms (missed cycles : 4). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021318 ms (missed cycles : 4).[0m ×2 + 16.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283014 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283014 ms (missed cycles : 2).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 17.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061189 ms (missed cycles : 3). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061189 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304442 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304442 ms (missed cycles : 2).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352071 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352071 ms (missed cycles : 3).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295583 ms (missed cycles : 2). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295583 ms (missed cycles : 2).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084356 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084356 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483510 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483510 ms (missed cycles : 3).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148719 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148719 ms (missed cycles : 2).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557075 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557075 ms (missed cycles : 2).[0m ×2 + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.738ms + 26.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752556 ms (missed cycles : 3). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752556 ms (missed cycles : 3).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142553 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142553 ms (missed cycles : 4).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210618 ms (missed cycles : 4). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.210618 ms (missed cycles : 4).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416545 ms (missed cycles : 4). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416545 ms (missed cycles : 4).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359448 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359448 ms (missed cycles : 2).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 31.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946713 ms (missed cycles : 5). + 31.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.946713 ms (missed cycles : 5).[0m ×2 + 31.93sWARNros2_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 + 31.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133475 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133475 ms (missed cycles : 3).[0m ×2 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936523 ms (missed cycles : 4). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936523 ms (missed cycles : 4).[0m ×2 + 34.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 34.61sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828073 ms (missed cycles : 5). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.828073 ms (missed cycles : 5).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596340 ms (missed cycles : 2). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596340 ms (missed cycles : 2).[0m ×2 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788366 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788366 ms (missed cycles : 3).[0m ×2 + 37.54sWARNros2_control_nodeCamera render tick took 0.60 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 ×6 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113209 ms (missed cycles : 4). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113209 ms (missed cycles : 4).[0m ×2 + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824052 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824052 ms (missed cycles : 2).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039170 ms (missed cycles : 2). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039170 ms (missed cycles : 2).[0m ×2 + 41.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.913ms + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688841 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688841 ms (missed cycles : 3).[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025347 ms (missed cycles : 3). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025347 ms (missed cycles : 3).[0m ×2 + 43.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784448 ms (missed cycles : 5). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784448 ms (missed cycles : 5).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774091 ms (missed cycles : 4). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774091 ms (missed cycles : 4).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794197 ms (missed cycles : 4). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794197 ms (missed cycles : 4).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017230 ms (missed cycles : 2). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017230 ms (missed cycles : 2).[0m ×2 + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535265 ms (missed cycles : 3). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535265 ms (missed cycles : 3).[0m ×2 + 48.71sWARNros2_control_nodeCamera render tick took 0.63 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 + 48.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 49.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567431 ms (missed cycles : 3). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567431 ms (missed cycles : 3).[0m ×2 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916634 ms (missed cycles : 4). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916634 ms (missed cycles : 4).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208116 ms (missed cycles : 2). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208116 ms (missed cycles : 2).[0m ×2 + 51.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.075ms + 52.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301750 ms (missed cycles : 3). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301750 ms (missed cycles : 3).[0m ×2 + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337950 ms (missed cycles : 3). + 53.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337950 ms (missed cycles : 3).[0m ×2 + 54.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948225 ms (missed cycles : 2). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948225 ms (missed cycles : 2).[0m ×2 + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321903 ms (missed cycles : 4). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321903 ms (missed cycles : 4).[0m ×2 + 56.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 57.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 57.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 58.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 59.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 59.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 60.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 60.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 60.32sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.33sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.81sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.85sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 61.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 61.24sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 61.61sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 62.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 63.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 63.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 243 warnings · 200 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.52sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.07sINFOobjective_server_nodecaller: ×4 + 3.07sINFOobjective_server_nodetype: 0 ×4 + 3.07sINFOobjective_server_nodename: "" ×4 + 3.07sINFOobjective_server_nodeinstance_id: "" ×4 + 3.07sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481273 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481273 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999186 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999186 ms (missed cycles : 2).[0m ×2 + 8.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 8.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.080ms + 8.54sWARNros2_control_nodeCamera render tick took 0.54 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 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809238 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809238 ms (missed cycles : 3).[0m ×2 + 9.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.641ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.258ms + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890175 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890175 ms (missed cycles : 2).[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657864 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657864 ms (missed cycles : 2).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.540ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.881ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272206 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272206 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.639ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.977ms + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409224 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409224 ms (missed cycles : 3).[0m ×2 + 13.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 7.348ms + 13.83sWARNros2_control_nodeCamera render tick took 0.57 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 ×4 + 13.86sINFOamclParticle filter update iteration stats: 2826 particles 723 points - 5.748ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015355 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015355 ms (missed cycles : 3).[0m ×2 + 14.47sINFOamclParticle filter update iteration stats: 1682 particles 723 points - 4.181ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306937 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306937 ms (missed cycles : 2).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 2.680ms + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.763ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089736 ms (missed cycles : 2).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758703 ms (missed cycles : 3). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758703 ms (missed cycles : 3).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684904 ms (missed cycles : 3). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684904 ms (missed cycles : 3).[0m ×2 + 18.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×8 + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419487 ms (missed cycles : 3). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419487 ms (missed cycles : 3).[0m ×2 + 19.35sWARNros2_control_nodeCamera render tick took 0.62 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 ×6 + 19.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 19.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938669 ms (missed cycles : 5). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.938669 ms (missed cycles : 5).[0m ×2 + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 21.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331434 ms (missed cycles : 2). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331434 ms (missed cycles : 2).[0m ×2 + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.350ms + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691897 ms (missed cycles : 3). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691897 ms (missed cycles : 3).[0m ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437883 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437883 ms (missed cycles : 3).[0m ×2 + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556667 ms (missed cycles : 4). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.556667 ms (missed cycles : 4).[0m ×2 + 24.84sWARNros2_control_nodeCamera render tick took 0.58 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 ×4 + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018007 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018007 ms (missed cycles : 3).[0m ×2 + 26.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198036 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198036 ms (missed cycles : 3).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.554ms + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766471 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766471 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655848 ms (missed cycles : 4). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655848 ms (missed cycles : 4).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.792ms + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441290 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441290 ms (missed cycles : 2).[0m ×2 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471414 ms (missed cycles : 3). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471414 ms (missed cycles : 3).[0m ×2 + 31.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 31.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157836 ms (missed cycles : 3). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157836 ms (missed cycles : 3).[0m ×2 + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261627 ms (missed cycles : 4). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261627 ms (missed cycles : 4).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688619 ms (missed cycles : 3). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688619 ms (missed cycles : 3).[0m ×2 + 34.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 34.23sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659867 ms (missed cycles : 4). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659867 ms (missed cycles : 4).[0m ×2 + 36.02sWARNros2_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 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247202 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247202 ms (missed cycles : 2).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627686 ms (missed cycles : 3). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627686 ms (missed cycles : 3).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678567 ms (missed cycles : 3). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678567 ms (missed cycles : 3).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315283 ms (missed cycles : 5). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315283 ms (missed cycles : 5).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586039 ms (missed cycles : 3). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586039 ms (missed cycles : 3).[0m ×2 + 41.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 41.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525628 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525628 ms (missed cycles : 2).[0m ×2 + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735801 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735801 ms (missed cycles : 3).[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080615 ms (missed cycles : 3). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080615 ms (missed cycles : 3).[0m ×2 + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623715 ms (missed cycles : 2). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623715 ms (missed cycles : 2).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016715 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016715 ms (missed cycles : 2).[0m ×2 + 46.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 47.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051486 ms (missed cycles : 3). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051486 ms (missed cycles : 3).[0m ×2 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818425 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818425 ms (missed cycles : 3).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494948 ms (missed cycles : 3). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494948 ms (missed cycles : 3).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 50.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087822 ms (missed cycles : 2). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087822 ms (missed cycles : 2).[0m ×2 + 51.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063629 ms (missed cycles : 3). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063629 ms (missed cycles : 3).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769806 ms (missed cycles : 5). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769806 ms (missed cycles : 5).[0m ×2 + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751987 ms (missed cycles : 3). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751987 ms (missed cycles : 3).[0m ×2 + 54.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589523 ms (missed cycles : 3). + 54.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589523 ms (missed cycles : 3).[0m ×2 + 55.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.025ms + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783364 ms (missed cycles : 5). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783364 ms (missed cycles : 5).[0m ×2 + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162339 ms (missed cycles : 4). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162339 ms (missed cycles : 4).[0m ×2 + 57.73sWARNros2_control_nodeCamera render tick took 0.60 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 + 57.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602560 ms (missed cycles : 3). + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602560 ms (missed cycles : 3).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285359 ms (missed cycles : 3). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285359 ms (missed cycles : 3).[0m ×2 + 59.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 59.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788481550.43602538 seconds ×3 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.96sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.36sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801735 ms (missed cycles : 2). + 60.37sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801735 ms (missed cycles : 2).[0m ×2 + 60.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788481551.03012109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.81sINFOobjective_server_nodeFound path in 0 iterations (7.04e-07 s). ×2 + 60.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.018ms + 61.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708280 ms (missed cycles : 3). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708280 ms (missed cycles : 3).[0m ×2 + 62.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395853 ms (missed cycles : 3). + 62.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395853 ms (missed cycles : 3).[0m ×2 + 63.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 51.8s | 245 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788481359.73190594 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3).[0m ×2 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788481360.31028032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.748ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3).[0m ×2 + 5.04sWARNros2_control_nodeCamera render tick took 0.53 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 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724449 ms (missed cycles : 2).[0m ×2 + 8.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.692ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035472 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035472 ms (missed cycles : 3).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.531ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176476 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176476 ms (missed cycles : 2).[0m ×2 + 10.14sWARNros2_control_nodeCamera render tick took 0.57 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 + 10.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.487ms + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.863ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414180 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414180 ms (missed cycles : 3).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.933ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192209 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192209 ms (missed cycles : 3).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 12.49sINFOamclParticle filter update iteration stats: 4818 particles 723 points - 7.420ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816916 ms (missed cycles : 5). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816916 ms (missed cycles : 5).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 5.359ms + 13.68sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.926ms + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771454 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771454 ms (missed cycles : 2).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.584ms + 14.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.211ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031561 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031561 ms (missed cycles : 3).[0m ×2 + 15.49sWARNros2_control_nodeCamera render tick took 0.62 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 ×4 + 15.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671686 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671686 ms (missed cycles : 3).[0m ×2 + 16.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309849 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309849 ms (missed cycles : 2).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766585 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766585 ms (missed cycles : 2).[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906105 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906105 ms (missed cycles : 2).[0m ×2 + 19.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892771 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892771 ms (missed cycles : 2).[0m ×2 + 21.05sWARNros2_control_nodeCamera render tick took 0.63 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 + 21.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052229 ms (missed cycles : 3). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052229 ms (missed cycles : 3).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970455 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970455 ms (missed cycles : 2).[0m ×2 + 22.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 23.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485885 ms (missed cycles : 4). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485885 ms (missed cycles : 4).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165745 ms (missed cycles : 5). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165745 ms (missed cycles : 5).[0m ×2 + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621577 ms (missed cycles : 5). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621577 ms (missed cycles : 5).[0m ×2 + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 26.55sWARNros2_control_nodeCamera render tick took 0.59 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 ×4 + 26.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697169 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697169 ms (missed cycles : 2).[0m ×2 + 27.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.215ms + 27.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530149 ms (missed cycles : 3). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530149 ms (missed cycles : 3).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 29.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898392 ms (missed cycles : 3). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898392 ms (missed cycles : 3).[0m ×2 + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033692 ms (missed cycles : 2). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033692 ms (missed cycles : 2).[0m ×2 + 30.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235285 ms (missed cycles : 2). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235285 ms (missed cycles : 2).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.572ms + 32.09sWARNros2_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 + 32.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725711 ms (missed cycles : 2). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725711 ms (missed cycles : 2).[0m ×2 + 33.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117403 ms (missed cycles : 4). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117403 ms (missed cycles : 4).[0m ×2 + 33.86sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191087 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191087 ms (missed cycles : 2).[0m ×2 + 34.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007001 ms (missed cycles : 4). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007001 ms (missed cycles : 4).[0m ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279090 ms (missed cycles : 2). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279090 ms (missed cycles : 2).[0m ×2 + 37.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 37.40sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421544 ms (missed cycles : 2). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421544 ms (missed cycles : 2).[0m ×2 + 38.19sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865540 ms (missed cycles : 3). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865540 ms (missed cycles : 3).[0m ×2 + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149062 ms (missed cycles : 3). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149062 ms (missed cycles : 3).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 40.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922137 ms (missed cycles : 4). + 40.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922137 ms (missed cycles : 4).[0m ×2 + 41.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 41.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664834 ms (missed cycles : 3). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664834 ms (missed cycles : 3).[0m ×2 + 42.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255647 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255647 ms (missed cycles : 2).[0m ×2 + 42.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 43.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473719 ms (missed cycles : 4). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473719 ms (missed cycles : 4).[0m ×2 + 44.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987004 ms (missed cycles : 4). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987004 ms (missed cycles : 4).[0m ×2 + 46.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303676 ms (missed cycles : 2). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303676 ms (missed cycles : 2).[0m ×2 + 47.26sWARNros2_control_nodeCamera render tick took 0.58 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 ×4 + 47.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 47.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.947ms + 48.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525030 ms (missed cycles : 3). + 48.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525030 ms (missed cycles : 3).[0m ×2 + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.677ms + 49.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 49.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531459 ms (missed cycles : 4). + 49.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531459 ms (missed cycles : 4).[0m ×2 + 49.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.092ms + 50.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300137 ms (missed cycles : 2). + 50.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300137 ms (missed cycles : 2).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.214ms + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987139 ms (missed cycles : 2). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987139 ms (missed cycles : 2).[0m ×2 + 52.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019552 ms (missed cycles : 2). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019552 ms (missed cycles : 2).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 53.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857803 ms (missed cycles : 3). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857803 ms (missed cycles : 3).[0m ×2 + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859049 ms (missed cycles : 2). + 54.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859049 ms (missed cycles : 2).[0m ×2 + 54.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 54.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788481411.55042768 seconds ×3 + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 54.96sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.36sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788481412.13914895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394503 ms (missed cycles : 5). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394503 ms (missed cycles : 5).[0m ×2 + 55.85sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 55.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.922ms + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210933 ms (missed cycles : 5). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210933 ms (missed cycles : 5).[0m ×2 + 57.58sWARNros2_control_nodeCamera render tick took 0.56 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 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992420 ms (missed cycles : 3). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992420 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 181 warnings · 381 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.06sINFOobjective_server_nodecaller: ×12 + 1.06sINFOobjective_server_nodetype: 0 ×12 + 1.06sINFOobjective_server_nodename: "" ×12 + 1.06sINFOobjective_server_nodeinstance_id: "" ×12 + 1.06sINFOobjective_server_node ×12 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 ×4 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×6 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889733 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889733 ms (missed cycles : 3).[0m ×2 + 8.02sWARNros2_control_nodeCamera render tick took 0.56 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 + 8.05sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.882ms + 8.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519672 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519672 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866318 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866318 ms (missed cycles : 3).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599843 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599843 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134599 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134599 ms (missed cycles : 2).[0m ×2 + 13.03sWARNros2_control_nodeCamera render tick took 0.54 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 ×6 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775397 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775397 ms (missed cycles : 3).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289791 ms (missed cycles : 3). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289791 ms (missed cycles : 3).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218026 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218026 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936623 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936623 ms (missed cycles : 2).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068463 ms (missed cycles : 5). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.068463 ms (missed cycles : 5).[0m ×2 + 18.07sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519272 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519272 ms (missed cycles : 3).[0m ×2 + 18.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896387 ms (missed cycles : 4). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.896387 ms (missed cycles : 4).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924460 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924460 ms (missed cycles : 2).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068218 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068218 ms (missed cycles : 4).[0m ×2 + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934787 ms (missed cycles : 5). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934787 ms (missed cycles : 5).[0m ×2 + 23.60sWARNros2_control_nodeCamera render tick took 0.53 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 ×4 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834843 ms (missed cycles : 4). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834843 ms (missed cycles : 4).[0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555031 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555031 ms (missed cycles : 3).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089723 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089723 ms (missed cycles : 2).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046502 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046502 ms (missed cycles : 2).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326718 ms (missed cycles : 2). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326718 ms (missed cycles : 2).[0m ×2 + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173883 ms (missed cycles : 2). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173883 ms (missed cycles : 2).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649974 ms (missed cycles : 3). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649974 ms (missed cycles : 3).[0m ×2 + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988118 ms (missed cycles : 2). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988118 ms (missed cycles : 2).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288917 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288917 ms (missed cycles : 2).[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662210 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662210 ms (missed cycles : 2).[0m ×2 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618180 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618180 ms (missed cycles : 2).[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944992 ms (missed cycles : 3). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944992 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111872 ms (missed cycles : 2). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111872 ms (missed cycles : 2).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297005 ms (missed cycles : 2). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297005 ms (missed cycles : 2).[0m ×2 + 38.68sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.351ms + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985425 ms (missed cycles : 4). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985425 ms (missed cycles : 4).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253302 ms (missed cycles : 2). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253302 ms (missed cycles : 2).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184262 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184262 ms (missed cycles : 2).[0m ×2 + 42.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467678 ms (missed cycles : 4). + 42.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467678 ms (missed cycles : 4).[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2).[0m ×2 + 44.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2).[0m ×2 + 46.61sINFOjoint_trajectory_controllerGoal reached, success! + 46.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788481257.18619227 seconds ×3 + 46.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4).[0m ×2 + 47.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.17sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788481257.76126337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4).[0m ×2 + 48.30sINFOobjective_server_nodeFound path in 0 iterations (2.5073e-05 s). ×2 + 48.36sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3).[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 158 warnings · 183 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.57 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 0.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203305 ms (missed cycles : 3). + 0.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203305 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773438 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773438 ms (missed cycles : 2).[0m ×2 + 2.18sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788481327.12308955 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452917 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452917 ms (missed cycles : 3).[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788481328.69174862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065325 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065325 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 5.03sWARNros2_control_nodeCamera render tick took 0.54 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 ×4 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394785 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394785 ms (missed cycles : 3).[0m ×2 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637393 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637393 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498088 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498088 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227455 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227455 ms (missed cycles : 2).[0m ×2 + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.131ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832263 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832263 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.733ms + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.580ms + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019999 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019999 ms (missed cycles : 2).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.099ms + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.596ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637993 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637993 ms (missed cycles : 2).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.908ms + 12.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.896ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870955 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870955 ms (missed cycles : 3).[0m ×2 + 13.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.737ms + 13.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.687ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233879 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233879 ms (missed cycles : 2).[0m ×2 + 14.21sINFOamclParticle filter update iteration stats: 3876 particles 723 points - 9.407ms + 14.81sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 6.774ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408837 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408837 ms (missed cycles : 4).[0m ×2 + 15.36sWARNros2_control_nodeCamera render tick took 0.56 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 + 15.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 4.371ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275522 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275522 ms (missed cycles : 2).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 3.087ms + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.995ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731374 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731374 ms (missed cycles : 2).[0m ×2 + 17.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989824 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989824 ms (missed cycles : 2).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 19.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163739 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163739 ms (missed cycles : 2).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412406 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412406 ms (missed cycles : 3).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 20.97sWARNros2_control_nodeCamera render tick took 0.59 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 + 20.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753811 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753811 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939036 ms (missed cycles : 3). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939036 ms (missed cycles : 3).[0m ×2 + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673652 ms (missed cycles : 2). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673652 ms (missed cycles : 2).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867683 ms (missed cycles : 4). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867683 ms (missed cycles : 4).[0m ×2 + 24.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.449ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763821 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763821 ms (missed cycles : 2).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 26.47sWARNros2_control_nodeCamera render tick took 0.60 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 + 26.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136228 ms (missed cycles : 3). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136228 ms (missed cycles : 3).[0m ×2 + 27.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369837 ms (missed cycles : 3). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369837 ms (missed cycles : 3).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742611 ms (missed cycles : 4). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742611 ms (missed cycles : 4).[0m ×2 + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264650 ms (missed cycles : 3). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264650 ms (missed cycles : 3).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791963 ms (missed cycles : 5). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791963 ms (missed cycles : 5).[0m ×2 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.641ms + 31.49sWARNros2_control_nodeCamera render tick took 0.58 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 + 31.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.108ms + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5).[0m ×2 + 32.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4).[0m ×2 + 33.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 34.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788481359.73190594 seconds ×3 + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.87sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3). + 35.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3).[0m ×2 + 35.27sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.27sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.41sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788481360.31028032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.748ms + 35.82sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 36.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3). + 36.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3).[0m ×2 + 36.84sWARNros2_control_nodeCamera render tick took 0.53 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 + 36.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.3s | 101 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162339 ms (missed cycles : 4).[0m ×2 + 0.92sWARNros2_control_nodeCamera render tick took 0.60 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 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602560 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602560 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285359 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285359 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788481550.43602538 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.55sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801735 ms (missed cycles : 2). + 3.56sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.56sINFOobjective_server_nodecaller: ×6 + 3.56sINFOobjective_server_nodetype: 0 ×6 + 3.56sINFOobjective_server_nodename: "" ×6 + 3.56sINFOobjective_server_nodeinstance_id: "" ×6 + 3.56sINFOobjective_server_node ×6 + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801735 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788481551.03012109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (7.04e-07 s). ×2 + 4.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.018ms + 4.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708280 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708280 ms (missed cycles : 3).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395853 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395853 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 6.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164909 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164909 ms (missed cycles : 2).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835286 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835286 ms (missed cycles : 3).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720108 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720108 ms (missed cycles : 3).[0m ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 10.27sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 10.44sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784955 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784955 ms (missed cycles : 2).[0m ×2 + 10.49sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 10.81sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.86sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 11.23sINFOobjective_server_nodeFound path in 33 iterations (0.0331418 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281696 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281696 ms (missed cycles : 4).[0m ×2 + 11.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.77sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.46sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958157 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958157 ms (missed cycles : 2).[0m ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.30sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756320 ms (missed cycles : 4). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756320 ms (missed cycles : 4).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773090 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773090 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.011ms + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237984 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237984 ms (missed cycles : 4).[0m ×2 + 16.56sWARNros2_control_nodeCamera render tick took 0.53 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 + 16.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.674ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.877ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.821ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3).[0m ×2 + 19.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788481566.71821833 seconds ×3 + 19.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.84sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481567.32918096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.91sINFOmove_groupClearing octomap...[0m ×2 + 19.92sINFOmove_groupOctomap cleared.[0m ×2 + 19.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.644ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3).[0m ×2 + 21.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481568.41931605 seconds ×3 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3).[0m ×2 + 21.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.55sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481568.99762750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.71sWARNros2_control_nodeCamera render tick took 0.54 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 + 21.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 22.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481569.61775804 seconds ×3 + 22.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 100 warnings · 156 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.58 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019552 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019552 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857803 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857803 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859049 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859049 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.445ms + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788481411.55042768 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.68sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788481412.13914895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394503 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394503 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.922ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210933 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210933 ms (missed cycles : 5).[0m ×2 + 5.30sWARNros2_control_nodeCamera render tick took 0.56 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 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992420 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992420 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301536 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301536 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376824 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376824 ms (missed cycles : 3).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.693ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204317 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204317 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.586ms + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.423ms + 9.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802545 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802545 ms (missed cycles : 3).[0m ×2 + 10.40sWARNros2_control_nodeCamera render tick took 0.54 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 + 10.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 10.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.731ms + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.259ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461847 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461847 ms (missed cycles : 3).[0m ×2 + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500327 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500327 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 12.82sINFOamclParticle filter update iteration stats: 4280 particles 723 points - 7.290ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150072 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150072 ms (missed cycles : 3).[0m ×2 + 13.44sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 5.981ms + 13.56sINFOobjective_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 + 13.56sINFOjoint_trajectory_controllerGot request to cancel goal + 13.56sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.56sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.56sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.58sERRORobjective_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: 1788481422.56343985 seconds ×3 + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-0.51, 2.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 13.68sWARNlocal_costmap.local_costmapSensor origin at (-1.41, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 14.02sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 4.357ms + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.08sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474556 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474556 ms (missed cycles : 2).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788481423.14567280 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.031ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118412 ms (missed cycles : 4). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118412 ms (missed cycles : 4).[0m ×2 + 15.73sWARNros2_control_nodeCamera render tick took 0.57 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 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657306 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657306 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 100 errors · 35 warnings · 515 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4).[0m ×2 + 0.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3).[0m ×2 + 1.21sINFOjoint_trajectory_controllerGoal reached, success! + 1.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788481566.71821833 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.78sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.78sINFOobjective_server_nodecaller: ×4 + 1.78sINFOobjective_server_nodetype: 0 ×4 + 1.78sINFOobjective_server_nodename: "" ×4 + 1.78sINFOobjective_server_nodeinstance_id: "" ×4 + 1.78sINFOobjective_server_node ×4 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481567.32918096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.85sINFOmove_groupClearing octomap...[0m ×2 + 1.85sINFOmove_groupOctomap cleared.[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.644ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481568.41931605 seconds ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481568.99762750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNros2_control_nodeCamera render tick took 0.54 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 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481569.61775804 seconds ×3 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3).[0m ×2 + 5.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672730 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672730 ms (missed cycles : 4).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381406 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381406 ms (missed cycles : 4).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458449 ms (missed cycles : 4). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458449 ms (missed cycles : 4).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271510 ms (missed cycles : 4). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271510 ms (missed cycles : 4).[0m ×2 + 9.11sWARNros2_control_nodeCamera render tick took 0.52 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 + 9.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.78sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.79sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sERRORweb_video_auth_proxy-38process has died [pid 7817, 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 + 9.79sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.79sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.80sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORweb_bridge_auth_proxy-37process has died [pid 7816, 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 + 9.80sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.80sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.81sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.82sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.83sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 9.83sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 9.84sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 9.85sINFOvideo_server-36process has finished cleanly [pid 7815] ×2 + 9.85sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 9.86sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 9.88sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.89sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 9.90sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 9.91sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 9.92sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 9.93sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 9.94sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 9.96sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 9.96sINFOcontroller_managerShutdown request received.... + 9.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.96sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.96sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.96sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.96sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.96sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.96sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 9.96sINFOcontroller_managerShutting down the controller manager. + 9.97sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 9.98sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 9.99sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.00sERRORmove_group-24process has died [pid 7731, 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_t4ow8w8y --params-file /tmp/launch_params_ztosn1lt --params-file /tmp/launch_params_nvs3fhp2 --params-file /tmp/launch_params_d2dowz1g --params-file /tmp/launch_params_892on1t1 --params-file /tmp/launch_params_brjw6xru']. ×2 + 10.01sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.01sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.03sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.04sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.05sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.06sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.07sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.07sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.07sINFOmap_serverDeactivating + 10.07sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.07sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.07sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.07sINFOcontroller_serverDeactivating + 10.07sINFOlocal_costmap.local_costmapDeactivating + 10.08sINFOvideo_server2026/09/04 00:26:15 INF shutting down gracefully ×2 + 10.08sINFOvideo_server2026/09/04 00:26:15 INF [WebRTC] closing ×2 + 10.08sINFOvideo_server2026/09/04 00:26:15 INF [RTSP] closing ×2 + 10.08sINFOvideo_server2026/09/04 00:26:15 INF waiting for running hooks ×2 + 10.08sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOmap_serverCleaning up + 10.08sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.08sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.08sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.08sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.08sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.08sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.08sERRORmove_groupStack trace (most recent call last) in thread 8399: ×2 + 10.08sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.08sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4debfa63, in __clone ×2 + 10.08sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4de32aa3, in ×2 + 10.08sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4e0c4db3, in ×2 + 10.08sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f8f4e8299e7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.08sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4e456620, in rclcpp::Rate::sleep() ×2 + 10.08sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4e398d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.08sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f4e35a087, in ×2 + 10.08sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4e093390, in __cxa_throw ×2 + 10.08sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4e07da54, in std::terminate() ×2 + 10.08sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4e0930d9, in ×2 + 10.08sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f4e07dff4, in ×2 + 10.08sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4ddbe8fe, in abort ×2 + 10.08sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4dddb27d, in raise ×2 + 10.08sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f4de34b2c, in pthread_kill ×2 + 10.08sERRORmove_groupAborted (Signal sent by tkill() 7731 0) ×2 + 10.08sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.08sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.08sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.08sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.08sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.08sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.08sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.09sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.09sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.09sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.09sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.09sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.09sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.09sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.09sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.09sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.09sINFOodom_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 + 10.09sINFOodom_qos_relay.pymain() ×2 + 10.09sINFOodom_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 + 10.09sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.09sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.09sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.09sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.09sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.09sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.09sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.09sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.09sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.09sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.09sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.09sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.09sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.09sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.09sINFOcontroller_serverCleaning up + 10.09sINFOlocal_costmap.local_costmapCleaning up + 10.10sERRORamclThe bond connection to the lifecycle manager has been broken + 10.14sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.14sINFOsmoother_serverDeactivating + 10.14sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.15sINFOsmoother_serverCleaning up + 10.17sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.17sINFOplanner_serverDeactivating + 10.17sINFOglobal_costmap.global_costmapDeactivating + 10.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.18sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.24sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.24sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.24sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.24sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.24sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.24sINFOvelocity_smootherDeactivating + 10.24sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.35sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.35sINFOwaypoint_followerDeactivating + 10.35sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.46sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.47sINFObt_navigatorDeactivating + 10.47sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.58sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.58sINFObehavior_serverDeactivating + 10.58sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.69sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.69sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.69sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.69sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.69sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.70sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.70sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.70sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.70sINFOvelocity_smootherCleaning up + 10.70sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.70sINFOwaypoint_followerCleaning up + 10.73sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.73sINFObt_navigatorCleaning up + 10.81sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.81sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.82sINFOplanner_serverCleaning up + 10.83sINFOglobal_costmap.global_costmapCleaning up + 10.84sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.84sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.88sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.88sINFObehavior_serverCleaning up + 10.88sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.88sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.88sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.88sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.90sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7814] ×2 + 10.90sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.91sINFObt_navigatorCompleted Cleaning up + 10.91sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.97sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.97sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.97sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.97sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.97sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.97sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7783] ×2 + 10.98sINFOui_teleop_bridge-33process has finished cleanly [pid 7806] ×2 + 10.98sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7782] ×2 + 10.98sINFOexecute_objective_bridge-32process has finished cleanly [pid 7805] ×2 + 11.00sINFOcomponent_container_mt-31process has finished cleanly [pid 7787] ×2 + 11.01sINFOparameter_manager_node-25process has finished cleanly [pid 7780] ×2 + 11.02sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7716] ×2 + 11.03sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7715] ×2 + 11.03sINFOwaypoint_manager_node-26process has finished cleanly [pid 7781] ×2 + 11.04sINFOstatic_transform_publisher-9process has finished cleanly [pid 7633] ×2 + 11.05sINFOstatic_transform_publisher-8process has finished cleanly [pid 7632] ×2 + 11.06sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.06sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.06sINFOlidar_flattener.pymain() ×2 + 11.06sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.06sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.07sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.07sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.07sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.07sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.07sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.07sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.07sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.07sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.07sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.07sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.07sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.07sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.08sINFOobjective_server_node[2026-09-04 00:26:16.568] [moveit_pro_license] [critical] ×2 + 11.08sINFOobjective_server_node************************************************* ×4 + 11.08sINFOobjective_server_node* MoveIt Pro License ×2 + 11.08sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.10sINFOstatic_transform_publisher-4process has finished cleanly [pid 7628] ×2 + 11.10sINFOstatic_transform_publisher-3process has finished cleanly [pid 7627] ×2 + 11.11sERRORlidar_flattener.py-7process has died [pid 7631, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_v_xua9fk']. ×2 + 11.13sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7630] ×2 + 11.14sERRORodom_qos_relay.py-5process has died [pid 7629, 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 + 11.16sINFOobjective_server_node_main-29process has finished cleanly [pid 7784] ×2 + 11.16sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.24sERRORcomponent_container_isolated-1process has died [pid 7625, 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_hpgnujjt --params-file /tmp/launch_params_z_rso3pi -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.47sERRORcomponent_container_isolated-2process has died [pid 7626, 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_hpgnujjt --params-file /tmp/launch_params_dt3mf1oh -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.11sINFOcomponent_container_mt-30process has finished cleanly [pid 7785] ×2 + 12.51sINFOweb_bridge-34process has finished cleanly [pid 7809] ×2 + 12.51sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 12.70sINFOros2_control_node-12process has finished cleanly [pid 7717] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 70 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_server_nodecaller: ×4 + 3.74sINFOobjective_server_nodetype: 0 ×4 + 3.74sINFOobjective_server_nodename: "" ×4 + 3.74sINFOobjective_server_nodeinstance_id: "" ×4 + 3.74sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182360 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182360 ms (missed cycles : 2).[0m ×2 + 7.39sWARNros2_control_nodeCamera render tick took 0.57 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 + 7.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203305 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203305 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773438 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773438 ms (missed cycles : 2).[0m ×2 + 9.61sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788481327.12308955 seconds ×3 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452917 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452917 ms (missed cycles : 3).[0m ×2 + 11.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.18sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788481328.69174862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065325 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065325 ms (missed cycles : 2).[0m ×2 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 12.42sWARNros2_control_nodeCamera render tick took 0.54 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 + 12.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394785 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394785 ms (missed cycles : 3).[0m ×2 + 13.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637393 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637393 ms (missed cycles : 4).[0m ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 68 warnings · 139 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.59 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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299541 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299541 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.762ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823345 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823345 ms (missed cycles : 3).[0m ×2 + 1.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796627 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796627 ms (missed cycles : 5).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.608ms + 3.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788481486.71584582 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.39) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788481487.29228115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486968 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486968 ms (missed cycles : 3).[0m ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.672ms + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257473 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257473 ms (missed cycles : 4).[0m ×2 + 5.42sWARNros2_control_nodeCamera render tick took 0.55 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 ×4 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243528 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243528 ms (missed cycles : 3).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 9.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 10.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.19sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 12.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 48 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodeCamera render tick took 0.54 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 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788481257.18619227 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.64sINFOobjective_server_nodecaller: ×4 + 3.64sINFOobjective_server_nodetype: 0 ×4 + 3.64sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788481257.76126337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.5073e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3).[0m ×2 + 6.36sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 7.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3).[0m ×2 + 8.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 8.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3).[0m ×2 + 9.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788481263.30140162 seconds ×3 + 9.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.76sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788481263.89111066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.84sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.797ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2).[0m ×2 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.43sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.361ms + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2).[0m ×2 + 11.59sWARNros2_control_nodeCamera render tick took 0.57 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 + 11.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4).[0m ×2 + 12.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 29 warnings · 119 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.53 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.674ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.877ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.821ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788481566.71821833 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481567.32918096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.35sINFOmove_groupClearing octomap...[0m ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.644ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481568.41931605 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481568.99762750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNros2_control_nodeCamera render tick took 0.54 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 + 5.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481569.61775804 seconds ×3 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3).[0m ×2 + 6.60sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672730 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672730 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodeCamera render tick took 0.54 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 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788481257.18619227 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788481257.76126337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.5073e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOjoint_trajectory_controllerReceived new action goal + 4.86sINFOjoint_trajectory_controllerAccepted new action goal + 4.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3).[0m ×2 + 6.36sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880235 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993436 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodeCamera render tick took 0.54 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 + 1.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696934 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788481257.18619227 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641389 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.64sINFOobjective_server_nodecaller: ×2 + 3.64sINFOobjective_server_nodetype: 0 ×2 + 3.64sINFOobjective_server_nodename: "" ×2 + 3.64sINFOobjective_server_nodeinstance_id: "" ×2 + 3.64sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788481257.76126337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.304212 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.5073e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOjoint_trajectory_controllerReceived new action goal + 4.86sINFOjoint_trajectory_controllerAccepted new action goal + 4.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167101 ms (missed cycles : 3).[0m ×2 + 6.36sWARNros2_control_nodeCamera render tick took 0.55 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 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 26 warnings · 75 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864067 ms (missed cycles : 2).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.204ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373427 ms (missed cycles : 3).[0m ×2 + 1.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.233572 ms (missed cycles : 3).[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoal reached, success! + 2.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788481263.30140162 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788481263.89111066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.797ms + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180588 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.07sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.361ms + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131322 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodeCamera render tick took 0.57 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 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052665 ms (missed cycles : 4).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal + 6.21sINFOjoint_trajectory_controllerAccepted new action goal + 6.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 41 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 41 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 41 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 41 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 41 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675466 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654042 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361816 ms (missed cycles : 2).[0m ×2 + 2.20sWARNros2_control_nodeCamera render tick took 0.60 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 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224092 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788481320.70124125 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.45sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788481321.29293275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436340 ms (missed cycles : 3).[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166968 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177462 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 43 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788481359.73190594 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3).[0m ×2 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788481360.31028032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.748ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3).[0m ×2 + 5.04sWARNros2_control_nodeCamera render tick took 0.53 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 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 43 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788481359.73190594 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3).[0m ×2 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788481360.31028032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.748ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3).[0m ×2 + 5.04sWARNros2_control_nodeCamera render tick took 0.53 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 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 43 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790377 ms (missed cycles : 5).[0m ×2 + 0.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268227 ms (missed cycles : 4).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682082 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788481359.73190594 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.06sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947949 ms (missed cycles : 3).[0m ×2 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.46sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788481360.31028032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.748ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532493 ms (missed cycles : 3).[0m ×2 + 5.04sWARNros2_control_nodeCamera render tick took 0.53 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 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847137 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604913 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 22 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799912 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136697 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544590 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788481493.13241720 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788481493.71589303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451661 ms (missed cycles : 2).[0m ×2 + 3.40sWARNros2_control_nodeCamera render tick took 0.55 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 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232877 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930249 ms (missed cycles : 3).[0m ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 26 warnings · 117 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.53 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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.674ms + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057267 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.877ms + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.821ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149442 ms (missed cycles : 4).[0m ×2 + 2.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216402 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788481566.71821833 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788481567.32918096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.35sINFOmove_groupClearing octomap...[0m ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.644ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946128 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788481568.41931605 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628740 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788481568.99762750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNros2_control_nodeCamera render tick took 0.54 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 + 5.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788481569.61775804 seconds ×3 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481032 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sWARNros2_control_nodeCamera render tick took 0.52 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 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 306 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.14sWARNros2_control_nodeCamera render tick took 0.54 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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.69sINFOobjective_server_nodecaller: ×10 + 3.69sINFOobjective_server_nodetype: 0 ×10 + 3.69sINFOobjective_server_nodename: "" ×10 + 3.69sINFOobjective_server_nodeinstance_id: "" ×10 + 3.69sINFOobjective_server_node ×10 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_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 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.65sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 7.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 30 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.99sINFOjoint_trajectory_controllerReceived new action goal + 6.99sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 26 warnings · 303 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.14sWARNros2_control_nodeCamera render tick took 0.54 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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.64sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.69sINFOobjective_server_nodecaller: ×10 + 3.69sINFOobjective_server_nodetype: 0 ×10 + 3.69sINFOobjective_server_nodename: "" ×10 + 3.69sINFOobjective_server_nodeinstance_id: "" ×10 + 3.69sINFOobjective_server_node ×10 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.73sINFOmove_groupClearing octomap...[0m ×2 + 3.73sINFOmove_groupOctomap cleared.[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_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 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.65sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858396 ms (missed cycles : 2).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.08sINFOobjective_server_nodecaller: ×10 + 3.08sINFOobjective_server_nodetype: 0 ×10 + 3.08sINFOobjective_server_nodename: "" ×10 + 3.08sINFOobjective_server_nodeinstance_id: "" ×10 + 3.08sINFOobjective_server_node ×10 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.03sWARNros2_control_nodeCamera render tick took 0.52 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 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972163 ms (missed cycles : 3).[0m ×2 + 0.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 1.51sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.08sINFOmove_groupClearing octomap...[0m ×2 + 2.08sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.00sWARNros2_control_nodeCamera render tick took 0.52 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 + 4.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570349 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.606962 ms (missed cycles : 4).[0m ×2 + 0.52sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.52sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.05sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.06sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.06sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.06sINFOobjective_server_nodecaller: ×10 + 1.06sINFOobjective_server_nodetype: 0 ×10 + 1.06sINFOobjective_server_nodename: "" ×10 + 1.06sINFOobjective_server_nodeinstance_id: "" ×10 + 1.06sINFOobjective_server_node ×10 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788481211.64788318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.09sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788481211.65811181 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670795 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.64sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788481212.22426391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788481212.23437929 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366256 ms (missed cycles : 4).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788481212.81611991 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788481212.96668863 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788481213.55246282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_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 + 3.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.01sWARNros2_control_nodeCamera render tick took 0.52 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 + 3.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788481213.60259581 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729309 ms (missed cycles : 3).[0m ×2 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788481214.17423344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560849 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784298 ms (missed cycles : 3).[0m ×2 | ||||