73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.7s
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 · 1522 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/2026-09-04-00-53-55-476893-6dbdb5e0b548-7576 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.26sINFOstatic_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' + 4.26sINFOstatic_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' + 4.27sINFOstatic_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' + 4.29sINFOstatic_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' + 4.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.33sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.41sINFOmap_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. + 4.41sINFOmap_serverCreating + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.56sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.56sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.59sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.61sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.61sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.61sWARNcontroller_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. + 4.62sINFOcontroller_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. + 4.63sINFOros2_control_node-12process started with pid [7721] ×2 + 4.63sINFOmove_group-24process started with pid [7735] ×2 + 4.63sINFOparameter_manager_node-25process started with pid [7785] ×2 + 4.63sINFOwaypoint_manager_node-26process started with pid [7786] ×2 + 4.63sINFOmove_joint_resampler_node-27process started with pid [7787] ×2 + 4.63sINFOmove_end_effector_resampler_node-28process started with pid [7788] ×2 + 4.63sINFOobjective_server_node_main-29process started with pid [7789] ×2 + 4.63sINFOcomponent_container_mt-30process started with pid [7790] ×2 + 4.63sINFOcomponent_container_mt-31process started with pid [7791] ×2 + 4.63sINFOexecute_objective_bridge-32process started with pid [7802] ×2 + 4.63sINFOui_teleop_bridge-33process started with pid [7809] ×2 + 4.63sINFOweb_bridge-34process started with pid [7811] ×2 + 4.63sINFOtf2_web_republisher_node-35process started with pid [7812] ×2 + 4.63sINFOvideo_server-36process started with pid [7813] ×2 + 4.63sINFOweb_bridge_auth_proxy-37process started with pid [7814] ×2 + 4.63sINFOweb_video_auth_proxy-38process started with pid [7821] ×2 + 4.64sINFOcomponent_container_isolated-1process started with pid [7626] ×2 + 4.64sINFOcomponent_container_isolated-2process started with pid [7627] ×2 + 4.64sINFOstatic_transform_publisher-3process started with pid [7628] ×2 + 4.64sINFOstatic_transform_publisher-4process started with pid [7629] ×2 + 4.64sINFOodom_qos_relay.py-5process started with pid [7630] ×2 + 4.64sINFOforward_stereo_publisher.py-6process started with pid [7631] ×2 + 4.64sINFOlidar_flattener.py-7process started with pid [7632] ×2 + 4.64sINFOstatic_transform_publisher-8process started with pid [7633] ×2 + 4.64sINFOstatic_transform_publisher-9process started with pid [7634] ×2 + 4.64sINFOscan_to_scan_filter_chain-10process started with pid [7719] ×2 + 4.64sINFOscan_to_scan_filter_chain-11process started with pid [7720] ×2 + 4.64sINFOros2-13process started with pid [7722] ×2 + 4.64sINFOros2-14process started with pid [7723] ×2 + 4.64sINFOros2-15process started with pid [7724] ×2 + 4.64sINFOros2-16process started with pid [7725] ×2 + 4.64sINFOros2-17process started with pid [7726] ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.949871 ms (missed cycles : 6). + 4.64sINFOlifecycle_manager_localizationCreating + 4.65sINFOros2-18process started with pid [7729] ×2 + 4.65sINFOros2-19process started with pid [7730] ×2 + 4.65sINFOros2-20process started with pid [7731] ×2 + 4.65sINFOros2-21process started with pid [7732] ×2 + 4.65sINFOros2-22process started with pid [7733] ×2 + 4.65sINFOros2-23process started with pid [7734] ×2 + 4.66sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.69sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.69sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.69sINFOmap_serverConfiguring + 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 + 4.70sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.70sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.70sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.70sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.70sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.71sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.71sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.71sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.71sWARNros2_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 + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.949871 ms (missed cycles : 6).[0m ×2 + 4.77sINFOcontroller_serverCreating controller server + 4.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.80sINFOcomponent_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 + 4.80sINFOlocal_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. + 4.81sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.81sINFOamclConfiguring + 4.82sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.82sINFOmap_serverActivating + 4.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.82sINFOlocal_costmap.local_costmapCreating Costmap + 4.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.83sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 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 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.91sINFOsmoother_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. + 4.92sINFOrobot_state_publisherRobot initialized + 4.92sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.93sINFOcontroller_managerReceived robot description from topic. + 4.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.93sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.94sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.94sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.94sINFOamclActivating + 4.94sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.94sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.95sINFOsmoother_serverCreating smoother server + 4.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.96sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.97sINFOamclSubscribed to map_topic: /map + 4.97sINFOamclSubscribed to scan_topic: /scan_merged + 4.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.97sINFOamclCreated reinitialize_global_localization service + 4.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.97sINFOamclCreated request_nomotion_update service + 4.98sINFOamclA new map was received + 4.98sINFOamclInitializing particle filter instance + 5.00sINFOplanner_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. + 5.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.03sINFOplanner_serverCreating + 5.04sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.07sINFOglobal_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. + 5.07sINFOglobal_costmap.global_costmapCreating Costmap + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.09sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.11sINFObehavior_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. + 5.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.25sINFObt_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. + 5.27sINFObt_navigatorCreating + 5.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.27sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.28sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.28sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.28sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.30sINFOvideo_server2026/09/04 00:54:02 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.30sINFOvideo_server2026/09/04 00:54:02 INF configuration loaded from /tmp/moveit-webrtc-c3vpoq69/mediamtx.yml ×2 + 5.30sINFOvideo_server2026/09/04 00:54:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.30sINFOvideo_server2026/09/04 00:54:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.39sINFOwaypoint_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. + 5.40sINFOwaypoint_followerCreating + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.44sWARNlaser_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. + 5.44sWARNscan_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 + 5.45sWARNlaser_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. + 5.48sINFOvelocity_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. + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.54sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.514203 seconds + 5.54sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.54sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.54sINFOmove_groupLoaded robot model in 0.514203 seconds[0m ×2 + 5.54sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.54sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.54sINFOlifecycle_manager_navigationCreating + 5.58sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.64sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.64sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.64sINFOcontroller_serverConfiguring controller interface + 5.64sINFOcontroller_servergetting progress checker plugins.. + 5.64sINFOcontroller_servergetting goal checker plugins.. + 5.64sINFOcontroller_serverController frequency set to 20.0000Hz + 5.64sINFOlocal_costmap.local_costmapConfiguring + 5.66sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.68sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.71sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.71sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.72sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.75sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.76sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.76sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.76sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.78sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.81sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.82sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.84sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.84sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.84sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.85sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.86sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.88sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.88sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.88sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.88sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.88sINFOcontroller_serverOptimizer reset ×2 + 5.92sINFOcontroller_serverController Server has FollowPath controllers available. + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668532 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668532 ms (missed cycles : 2).[0m ×2 + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.95sINFOsmoother_serverConfiguring smoother server + 5.96sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.97sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.98sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.98sINFOplanner_serverConfiguring + 5.98sINFOglobal_costmap.global_costmapConfiguring + 5.98sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.00sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.00sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.00sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.01sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.03sINFOamclParticle filter initialization completed + 6.03sINFOamclInitializing particles from estimated pose and covariance + 6.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.03sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.04sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.04sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.04sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.04sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.04sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.05sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.08sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.08sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.08sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.09sINFOplanner_serverPlanner Server has GridBased planners available. + 6.10sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.10sINFObehavior_serverConfiguring + 6.11sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.11sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.11sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.11sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.11sWARNmove_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. + 6.11sWARNmove_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. + 6.11sWARNmove_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 + 6.12sWARNmove_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. + 6.12sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.12sWARNmove_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. + 6.12sWARNmove_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 + 6.12sWARNmove_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. + 6.12sWARNmove_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. + 6.12sWARNmove_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 + 6.12sWARNmove_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 + 6.12sWARNmove_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. + 6.12sWARNmove_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. + 6.12sWARNmove_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. + 6.12sWARNmove_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. + 6.12sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.12sWARNmove_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 + 6.12sWARNmove_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 + 6.13sWARNmove_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 + 6.13sWARNmove_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 + 6.13sWARNmove_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 + 6.13sWARNmove_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 + 6.13sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.13sINFObehavior_serverConfiguring spin + 6.15sINFObehavior_serverConfiguring backup + 6.15sINFObehavior_serverConfiguring drive_on_heading + 6.16sINFObehavior_serverConfiguring assisted_teleop + 6.17sINFObehavior_serverConfiguring wait + 6.18sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.19sINFObt_navigatorConfiguring + 6.20sINFObt_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 + 6.31sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.31sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.34sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.34sINFOros2_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 + 6.34sINFOros2_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 + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.37sINFOwaypoint_followerConfiguring + 6.39sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.39sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.39sINFOvelocity_smootherConfiguring velocity smoother + 6.40sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.40sINFOcontroller_serverActivating + 6.40sINFOlocal_costmap.local_costmapActivating + 6.40sINFOlocal_costmap.local_costmapChecking transform + 6.40sINFOlocal_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. ×8 + 6.48sINFOmove_group[2026-09-04 00:54:03.631] [moveit_pro_license] [info] ×2 + 6.48sINFOmove_group************************************************* ×4 + 6.48sINFOmove_group* MoveIt Pro License ×2 + 6.49sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.49sINFOwaypoint_manager_nodeLoaded robot model in 0.308579 seconds[0m ×2 + 6.49sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.49sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.98sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.98sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.98sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.98sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.98sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.98sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.98sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.98sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.98sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.99sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.99sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.99sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.99sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.99sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.99sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.25sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.26sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.26sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.26sWARNros2_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 + 7.26sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.26sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.26sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.26sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.26sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.26sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.26sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.26sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.26sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.26sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.26sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.26sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.26sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.26sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.26sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.26sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.26sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.26sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.26sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.26sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.26sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.27sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.27sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.27sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.27sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 7.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101096 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101096 ms (missed cycles : 2).[0m ×2 + 7.32sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.32sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.32sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.32sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.32sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.32sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.32sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.33sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.33sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.33sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.34sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.34sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.35sINFOwaypoint_manager_node[2026-09-04 00:54:04.502] [moveit_pro_license] [info] ×2 + 7.35sINFOwaypoint_manager_node************************************************* ×4 + 7.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.51sINFOros2_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 + 7.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.51sWARNros2_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 + 7.64sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.64sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 7.64sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.64sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 7.68sINFOros2-17process has finished cleanly [pid 7726] ×2 + 7.78sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 7.78sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 7.81sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.81sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.82sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.85sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 7.85sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 7.85sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 7.85sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 7.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.97sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.98sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.98sINFOstreaming_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) + 7.98sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.99sINFOcomponent_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 + 7.99sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.99sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.00sINFOobjective_server_node[2026-09-04 00:54:05.143] [moveit_pro_license] [info] ×2 + 8.00sINFOobjective_server_node************************************************* ×4 + 8.00sINFOobjective_server_node* MoveIt Pro License ×2 + 8.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.08sINFOobjective_server_nodeLoaded robot model in 0.0284128 seconds[0m ×2 + 8.08sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.08sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.16sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.16sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.18sWARNcomponent_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 + 8.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.21sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.23sINFOstreaming_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) + 8.23sINFOcomponent_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 + 8.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224209 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224209 ms (missed cycles : 2).[0m ×2 + 8.36sINFOros2_control_node[2026-09-04 00:54:05.511] [info] Controller state will be published at 20 Hz. ×2 + 8.37sINFOros2_control_node[2026-09-04 00:54:05.513] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.52sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.54sWARNobjective_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. + 8.54sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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 + 8.55sWARNobjective_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. + 8.55sWARNobjective_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. + 8.55sWARNobjective_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 + 8.55sWARNobjective_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 + 8.57sINFOcomponent_container_mtLoaded robot model in 0.391924 seconds[0m ×2 + 8.57sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.57sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.63sINFOobjective_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 + 8.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.65sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.67sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.67sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 8.67sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.67sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 8.70sINFOros2-23process has finished cleanly [pid 7734] ×2 + 8.74sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.74sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.74sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 8.74sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 8.79sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 8.79sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 8.79sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 8.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 8.90sINFOmove_groupMoveGroup debug mode is ON + 8.90sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNcomponent_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 + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.94sWARNplanning_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. + 8.94sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.95sWARNcomponent_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 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.95sWARNplanning_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. + 8.95sWARNplanning_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. + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.07sINFOmove_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
********************************************************
+ 9.07sINFOmove_group ×8 + 9.07sINFOmove_group******************************************************** ×4 + 9.07sINFOmove_group* MoveGroup using: ×2 + 9.07sINFOmove_group* - apply_planning_scene_service ×2 + 9.07sINFOmove_group* - clear_octomap_service ×2 + 9.07sINFOmove_group* - get_group_urdf ×2 + 9.07sINFOmove_group* - load_geometry_from_file ×2 + 9.07sINFOmove_group* - get_planning_scene_service ×2 + 9.07sINFOmove_group* - kinematics_service ×2 + 9.07sINFOmove_group* - save_geometry_to_file ×2 + 9.07sINFOmove_group* - GetPlanningGroups ×2 + 9.07sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.07sINFOmove_group[0m ×2 + 9.07sINFOmove_group[92mYou can start planning now![0m ×2 + 9.14sINFOcomponent_container_mt[2026-09-04 00:54:06.286] [moveit_pro_license] [info] ×2 + 9.14sINFOcomponent_container_mt************************************************* ×4 + 9.14sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.14sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.25sINFOros2_control_node[2026-09-04 00:54:06.395] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.25sINFOros2_control_node[2026-09-04 00:54:06.398] [info] Controller state will be published at 10 Hz. ×2 + 9.25sINFOros2_control_node[2026-09-04 00:54:06.399] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.46sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.47sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.170656 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.170656 ms (missed cycles : 5).[0m ×2 + 9.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 9.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 9.61sINFOros2-21process has finished cleanly [pid 7732] ×2 + 9.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.66sINFOforce_torque_sensor_broadcasterconfigure successful + 9.66sINFOros2_control_nodeconfigure successful[0m ×6 + 9.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.67sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.67sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.77sWARNros2_control_nodeCamera render tick took 1.19 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 + 9.80sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.80sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.80sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 9.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 9.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 9.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 9.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 9.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 9.98sINFOros2-13process has finished cleanly [pid 7722] ×2 + 9.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 9.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 9.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 9.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 9.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.34sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.34sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 10.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 10.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 10.39sINFOros2-15process has finished cleanly [pid 7724] ×2 + 10.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 10.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 10.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 10.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 10.40sINFOlocal_costmap.local_costmapstart + 10.42sWARNros2_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 + 10.48sWARNobjective_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 + 10.50sWARNcontroller_serverParameter controller_server.verbose not found + 10.51sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235209 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235209 ms (missed cycles : 3).[0m ×2 + 10.61sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.61sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.61sINFOsmoother_serverActivating + 10.61sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.71sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788483246.965 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.72sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.72sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.72sINFOplanner_serverActivating + 10.72sINFOglobal_costmap.global_costmapActivating + 10.72sINFOglobal_costmap.global_costmapChecking transform + 10.72sINFOglobal_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. + 10.83sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788483245.728 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.85sINFOros2_control_node[2026-09-04 00:54:07.998] [info] Controller state will be published at 20 Hz. ×2 + 10.85sINFOros2_control_node[2026-09-04 00:54:07.999] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.03sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 5.280ms + 11.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 11.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 11.22sINFOros2-22process has finished cleanly [pid 7733] ×2 + 11.22sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788483248.333733, but only time 1788483248.571231 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.26sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.26sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.27sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.27sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.27sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.28sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130058 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130058 ms (missed cycles : 2).[0m ×2 + 11.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 11.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 11.62sINFOros2-19process has finished cleanly [pid 7730] ×2 + 11.63sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.63sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.63sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.64sINFOplatform_velocity_controllerconfigure successful + 11.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.64sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.65sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.72sINFOglobal_costmap.global_costmapstart + 11.97sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.97sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.97sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.97sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.97sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 11.97sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 12.01sINFOros2-16process has finished cleanly [pid 7725] ×2 + 12.02sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.03sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.03sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.04sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.04sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.35sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 12.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.35sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 12.38sINFOros2-14process has finished cleanly [pid 7723] ×2 + 12.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413506 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413506 ms (missed cycles : 3).[0m ×2 + 12.77sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 12.77sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 12.83sINFOros2_control_node[2026-09-04 00:54:09.980] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.83sINFOros2_control_node[2026-09-04 00:54:09.981] [info] Controller state will be published at 10 Hz. ×2 + 12.83sINFOros2_control_node[2026-09-04 00:54:09.983] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.88sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 12.88sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 12.88sINFObehavior_serverActivating + 12.88sINFObehavior_serverActivating spin + 12.88sINFObehavior_serverActivating backup + 12.88sINFObehavior_serverActivating drive_on_heading + 12.88sINFObehavior_serverActivating assisted_teleop + 12.88sINFObehavior_serverActivating wait + 12.88sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 12.99sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 12.99sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 12.99sINFObt_navigatorActivating + 13.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.16sINFOwaypoint_followerActivating + 13.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.18sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.18sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 13.18sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.18sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ + 13.18sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 13.18sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_p28c5ftu --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_g1ljqi_k --params-file /tmp/launch_params_awratug_ [0m ×2 + 13.20sINFOros2-20process has finished cleanly [pid 7731] ×2 + 13.25sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.25sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.25sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.25sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.25sINFOplatform_velocity_controller_nav2configure successful + 13.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.27sINFOvelocity_smootherActivating + 13.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 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 + 13.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.54sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.61sINFOros2-18process has finished cleanly [pid 7729] ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838776 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838776 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2).[0m ×2 + 15.20sWARNros2_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 + 15.81sWARNros2_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 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 17.30sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[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: 1788483255.82465386 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: 1788483255.83491325 seconds ×3 + 19.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 19.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 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 + 19.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 20.28sWARNros2_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 + 20.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.56sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.61sINFOobjective_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 + 20.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 20.85sWARNros2_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 + 21.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[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 | 65.3s | 3 errors · 288 warnings · 253 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886745 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886745 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.935ms + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.018ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299138 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299138 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.496ms + 2.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483257 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483257 ms (missed cycles : 2).[0m ×2 + 2.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 3.13sINFOobjective_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 + 3.13sINFOjoint_trajectory_controllerGot request to cancel goal + 3.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.15sERRORobjective_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: 1788483466.83035088 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 2.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 2.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.043ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446772 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446772 ms (missed cycles : 3).[0m ×2 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788483467.40699220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sWARNros2_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 + 3.84sWARNros2_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 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.478ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564386 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193975 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193975 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262273 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262273 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474443 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474443 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717170 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717170 ms (missed cycles : 2).[0m ×2 + 8.98sWARNros2_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 + 9.00sWARNros2_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 + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.692ms + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.365ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802607 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802607 ms (missed cycles : 3).[0m ×2 + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.043ms + 10.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.932ms + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635568 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635568 ms (missed cycles : 3).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 11.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.330ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789198 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789198 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.940ms + 13.08sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 7.886ms + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972055 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972055 ms (missed cycles : 3).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 5.291ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175511 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.175511 ms (missed cycles : 4).[0m ×2 + 14.24sWARNros2_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 + 14.26sWARNros2_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 + 14.28sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 4.894ms + 14.87sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.898ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408361 ms (missed cycles : 4). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.408361 ms (missed cycles : 4).[0m ×2 + 15.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.321ms + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109218 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109218 ms (missed cycles : 2).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 17.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727826 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727826 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743699 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743699 ms (missed cycles : 3).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837960 ms (missed cycles : 2). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837960 ms (missed cycles : 2).[0m ×2 + 19.74sWARNros2_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 + 19.77sWARNros2_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 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753223 ms (missed cycles : 2). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753223 ms (missed cycles : 2).[0m ×2 + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 21.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600393 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600393 ms (missed cycles : 3).[0m ×2 + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110142 ms (missed cycles : 3). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110142 ms (missed cycles : 3).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.339ms + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792544 ms (missed cycles : 3). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792544 ms (missed cycles : 3).[0m ×2 + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650265 ms (missed cycles : 3). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650265 ms (missed cycles : 3).[0m ×2 + 25.23sWARNros2_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 + 25.25sWARNros2_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 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.085ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078857 ms (missed cycles : 5). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078857 ms (missed cycles : 5).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232203 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232203 ms (missed cycles : 2).[0m ×2 + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.042ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.561ms + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331377 ms (missed cycles : 3). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331377 ms (missed cycles : 3).[0m ×2 + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650918 ms (missed cycles : 4). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650918 ms (missed cycles : 4).[0m ×2 + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640578 ms (missed cycles : 2). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640578 ms (missed cycles : 2).[0m ×2 + 30.77sWARNros2_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 ×2 + 30.79sWARNros2_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 ×6 + 30.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697912 ms (missed cycles : 3). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697912 ms (missed cycles : 3).[0m ×2 + 32.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 32.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614925 ms (missed cycles : 4). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614925 ms (missed cycles : 4).[0m ×2 + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839641 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839641 ms (missed cycles : 2).[0m ×2 + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238499 ms (missed cycles : 2). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238499 ms (missed cycles : 2).[0m ×2 + 34.81sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.81sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.33sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953789 ms (missed cycles : 3). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953789 ms (missed cycles : 3).[0m ×2 + 36.30sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.39sWARNros2_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 ×8 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774739 ms (missed cycles : 2). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774739 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247559 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247559 ms (missed cycles : 3).[0m ×2 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013201 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013201 ms (missed cycles : 3).[0m ×2 + 39.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.643ms + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194141 ms (missed cycles : 3). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194141 ms (missed cycles : 3).[0m ×2 + 40.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.830ms + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043727 ms (missed cycles : 4). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043727 ms (missed cycles : 4).[0m ×2 + 41.45sWARNros2_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 + 41.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.752ms + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802879 ms (missed cycles : 4). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802879 ms (missed cycles : 4).[0m ×2 + 42.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247881 ms (missed cycles : 2). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247881 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650757 ms (missed cycles : 4). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650757 ms (missed cycles : 4).[0m ×2 + 45.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335877 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335877 ms (missed cycles : 2).[0m ×2 + 46.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764999 ms (missed cycles : 3). + 46.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764999 ms (missed cycles : 3).[0m ×2 + 47.07sWARNros2_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 + 47.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887324 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887324 ms (missed cycles : 2).[0m ×2 + 48.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581880 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581880 ms (missed cycles : 2).[0m ×2 + 49.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584670 ms (missed cycles : 2). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584670 ms (missed cycles : 2).[0m ×2 + 50.04sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732776 ms (missed cycles : 5). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.732776 ms (missed cycles : 5).[0m ×2 + 50.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.134ms + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179965 ms (missed cycles : 3). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179965 ms (missed cycles : 3).[0m ×2 + 52.11sWARNros2_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 + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087745 ms (missed cycles : 2). + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087745 ms (missed cycles : 2).[0m ×2 + 53.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401527 ms (missed cycles : 2). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401527 ms (missed cycles : 2).[0m ×2 + 54.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 54.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843868 ms (missed cycles : 3). + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843868 ms (missed cycles : 3).[0m ×2 + 55.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 55.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079966 ms (missed cycles : 2). + 55.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079966 ms (missed cycles : 2).[0m ×2 + 56.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398987 ms (missed cycles : 4). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398987 ms (missed cycles : 4).[0m ×2 + 58.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836261 ms (missed cycles : 5). + 58.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836261 ms (missed cycles : 5).[0m ×2 + 58.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802683 ms (missed cycles : 3). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802683 ms (missed cycles : 3).[0m ×2 + 60.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523897 ms (missed cycles : 5). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523897 ms (missed cycles : 5).[0m ×2 + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967408 ms (missed cycles : 4). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967408 ms (missed cycles : 4).[0m ×2 + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302732 ms (missed cycles : 4). + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.302732 ms (missed cycles : 4).[0m ×2 + 63.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453306 ms (missed cycles : 2). + 63.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453306 ms (missed cycles : 2).[0m ×2 + 64.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132468 ms (missed cycles : 5). + 64.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132468 ms (missed cycles : 5).[0m ×2 + 64.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.101ms + 65.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904052 ms (missed cycles : 3). + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904052 ms (missed cycles : 3).[0m ×2 + 65.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 66.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502006 ms (missed cycles : 3). + 66.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502006 ms (missed cycles : 3).[0m ×2 + 66.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 67.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 67.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068986 ms (missed cycles : 3). + 67.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068986 ms (missed cycles : 3).[0m ×2 + 68.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 68.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788483532.11715150 seconds ×3 + 68.57sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.57sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529501 ms (missed cycles : 3). + 68.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529501 ms (missed cycles : 3).[0m ×2 + 68.97sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.97sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 68.98sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.03sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788483532.70886064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.362ms + 69.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843305 ms (missed cycles : 2). + 69.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843305 ms (missed cycles : 2).[0m ×2 + 70.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576894 ms (missed cycles : 2). + 70.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576894 ms (missed cycles : 2).[0m ×2 + 71.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 71.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.5s | 252 warnings · 199 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.58sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.58sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423881 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423881 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834721 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834721 ms (missed cycles : 3).[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.708ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637500 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637500 ms (missed cycles : 3).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.243ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.664ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317945 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317945 ms (missed cycles : 3).[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.773ms + 11.71sWARNros2_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 + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.052ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998180 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998180 ms (missed cycles : 2).[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.485ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009222 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009222 ms (missed cycles : 2).[0m ×2 + 12.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.538ms + 13.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.223ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525765 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525765 ms (missed cycles : 3).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.850ms + 14.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922051 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922051 ms (missed cycles : 3).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 3907 particles 723 points - 7.626ms + 15.95sINFOamclParticle filter update iteration stats: 2617 particles 723 points - 5.527ms + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827249 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827249 ms (missed cycles : 3).[0m ×2 + 16.55sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 3.887ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585139 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585139 ms (missed cycles : 2).[0m ×2 + 17.15sWARNros2_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 ×4 + 17.18sWARNros2_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 ×10 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.508ms + 17.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010667 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010667 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 18.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.694ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081659 ms (missed cycles : 3). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081659 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081479 ms (missed cycles : 4). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081479 ms (missed cycles : 4).[0m ×2 + 20.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956462 ms (missed cycles : 6). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.956462 ms (missed cycles : 6).[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 22.16sWARNros2_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 ×4 + 22.18sWARNros2_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 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311181 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311181 ms (missed cycles : 2).[0m ×2 + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927503 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927503 ms (missed cycles : 2).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.391ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851001 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851001 ms (missed cycles : 3).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074564 ms (missed cycles : 5). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074564 ms (missed cycles : 5).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.912ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355207 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355207 ms (missed cycles : 3).[0m ×2 + 27.22sWARNros2_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 + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602822 ms (missed cycles : 3). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602822 ms (missed cycles : 3).[0m ×2 + 28.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.520ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021299 ms (missed cycles : 5). + 28.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021299 ms (missed cycles : 5).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064628 ms (missed cycles : 2). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064628 ms (missed cycles : 2).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724742 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724742 ms (missed cycles : 2).[0m ×2 + 31.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866968 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866968 ms (missed cycles : 2).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.864ms + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183165 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183165 ms (missed cycles : 4).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083072 ms (missed cycles : 3). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083072 ms (missed cycles : 3).[0m ×2 + 34.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 34.99sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013015 ms (missed cycles : 3). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013015 ms (missed cycles : 3).[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471713 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471713 ms (missed cycles : 2).[0m ×2 + 37.45sWARNros2_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 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389491 ms (missed cycles : 2). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389491 ms (missed cycles : 2).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469096 ms (missed cycles : 2). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469096 ms (missed cycles : 2).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809477 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809477 ms (missed cycles : 2).[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627032 ms (missed cycles : 3). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627032 ms (missed cycles : 3).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675543 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675543 ms (missed cycles : 2).[0m ×2 + 41.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 42.53sWARNros2_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 + 42.55sWARNros2_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 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502981 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502981 ms (missed cycles : 2).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014309 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014309 ms (missed cycles : 2).[0m ×2 + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378179 ms (missed cycles : 3). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378179 ms (missed cycles : 3).[0m ×2 + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457909 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457909 ms (missed cycles : 3).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900007 ms (missed cycles : 5). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.900007 ms (missed cycles : 5).[0m ×2 + 48.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804478 ms (missed cycles : 2). + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804478 ms (missed cycles : 2).[0m ×2 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549691 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549691 ms (missed cycles : 2).[0m ×2 + 50.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307831 ms (missed cycles : 2). + 50.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307831 ms (missed cycles : 2).[0m ×2 + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359649 ms (missed cycles : 4). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359649 ms (missed cycles : 4).[0m ×2 + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607566 ms (missed cycles : 3). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607566 ms (missed cycles : 3).[0m ×2 + 52.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 53.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383893 ms (missed cycles : 4). + 53.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383893 ms (missed cycles : 4).[0m ×2 + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126016 ms (missed cycles : 4). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126016 ms (missed cycles : 4).[0m ×2 + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295100 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295100 ms (missed cycles : 3).[0m ×2 + 55.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 56.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847602 ms (missed cycles : 3). + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847602 ms (missed cycles : 3).[0m ×2 + 57.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968104 ms (missed cycles : 2). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968104 ms (missed cycles : 2).[0m ×2 + 57.87sWARNros2_control_nodeCamera render tick took 0.64 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 + 57.89sWARNros2_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 + 58.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095167 ms (missed cycles : 2). + 58.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095167 ms (missed cycles : 2).[0m ×2 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539141 ms (missed cycles : 3). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539141 ms (missed cycles : 3).[0m ×2 + 60.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 60.60sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788483596.07859111 seconds ×3 + 60.67sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.67sWARNlocal_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 + 61.07sWARNlocal_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. ×6 + 61.07sWARNlocal_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. ×6 + 61.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 61.14sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207124 ms (missed cycles : 4). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207124 ms (missed cycles : 4).[0m ×2 + 61.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788483596.66678715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.57sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 61.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873515 ms (missed cycles : 2). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873515 ms (missed cycles : 2).[0m ×2 + 63.26sWARNros2_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 + 63.28sWARNros2_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 + 63.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156457 ms (missed cycles : 2). + 63.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156457 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 246 warnings · 206 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788483307.60641265 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788483308.18229961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2).[0m ×2 + 3.46sWARNros2_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 + 3.49sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.868ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 4.05sWARNros2_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 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.92sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.92sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971300 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971300 ms (missed cycles : 2).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954926 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954926 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 3.367ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891557 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891557 ms (missed cycles : 3).[0m ×2 + 9.21sWARNros2_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 + 9.23sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.562ms + 9.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 3.128ms + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481638 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481638 ms (missed cycles : 3).[0m ×2 + 10.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.900ms + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266635 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266635 ms (missed cycles : 2).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811749 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811749 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833403 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833403 ms (missed cycles : 3).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 13.86sWARNros2_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 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879201 ms (missed cycles : 5). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879201 ms (missed cycles : 5).[0m ×2 + 14.49sWARNros2_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 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799378 ms (missed cycles : 3). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799378 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.378ms + 16.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596812 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596812 ms (missed cycles : 3).[0m ×2 + 16.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421193 ms (missed cycles : 5). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421193 ms (missed cycles : 5).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235489 ms (missed cycles : 4). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235489 ms (missed cycles : 4).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 19.25sWARNros2_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 + 19.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889793 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889793 ms (missed cycles : 2).[0m ×2 + 19.89sWARNros2_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 + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.447ms + 20.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497565 ms (missed cycles : 4). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497565 ms (missed cycles : 4).[0m ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841808 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841808 ms (missed cycles : 2).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 22.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.269ms + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154017 ms (missed cycles : 4). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154017 ms (missed cycles : 4).[0m ×2 + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486572 ms (missed cycles : 4). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486572 ms (missed cycles : 4).[0m ×2 + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 24.73sWARNros2_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 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848517 ms (missed cycles : 2). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848517 ms (missed cycles : 2).[0m ×2 + 25.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270313 ms (missed cycles : 2). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270313 ms (missed cycles : 2).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776121 ms (missed cycles : 2). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776121 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 27.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019583 ms (missed cycles : 4). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019583 ms (missed cycles : 4).[0m ×2 + 28.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028826 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028826 ms (missed cycles : 2).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348462 ms (missed cycles : 3). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348462 ms (missed cycles : 3).[0m ×2 + 30.31sWARNros2_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 + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.295ms + 30.98sWARNros2_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 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894826 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894826 ms (missed cycles : 2).[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.051ms + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492402 ms (missed cycles : 3). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492402 ms (missed cycles : 3).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709449 ms (missed cycles : 3). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709449 ms (missed cycles : 3).[0m ×2 + 34.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 34.33sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192964 ms (missed cycles : 2). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192964 ms (missed cycles : 2).[0m ×2 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313456 ms (missed cycles : 4). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313456 ms (missed cycles : 4).[0m ×2 + 36.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×4 + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624896 ms (missed cycles : 3). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624896 ms (missed cycles : 3).[0m ×2 + 37.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741856 ms (missed cycles : 2). + 37.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741856 ms (missed cycles : 2).[0m ×2 + 38.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566284 ms (missed cycles : 3). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566284 ms (missed cycles : 3).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989662 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989662 ms (missed cycles : 3).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207862 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207862 ms (missed cycles : 2).[0m ×2 + 40.95sWARNros2_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 + 40.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225180 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225180 ms (missed cycles : 3).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840149 ms (missed cycles : 2). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840149 ms (missed cycles : 2).[0m ×2 + 43.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460483 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460483 ms (missed cycles : 3).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591027 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591027 ms (missed cycles : 3).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445036 ms (missed cycles : 4). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445036 ms (missed cycles : 4).[0m ×2 + 46.55sWARNros2_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 ×4 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186558 ms (missed cycles : 5). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.186558 ms (missed cycles : 5).[0m ×2 + 48.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119455 ms (missed cycles : 2). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119455 ms (missed cycles : 2).[0m ×2 + 49.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817008 ms (missed cycles : 3). + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817008 ms (missed cycles : 3).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.718ms + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661684 ms (missed cycles : 4). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661684 ms (missed cycles : 4).[0m ×2 + 51.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412922 ms (missed cycles : 3). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412922 ms (missed cycles : 3).[0m ×2 + 51.63sWARNros2_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 + 51.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 52.29sWARNros2_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 + 52.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408054 ms (missed cycles : 4). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408054 ms (missed cycles : 4).[0m ×2 + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610277 ms (missed cycles : 3). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610277 ms (missed cycles : 3).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654624 ms (missed cycles : 5). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654624 ms (missed cycles : 5).[0m ×2 + 55.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038039 ms (missed cycles : 3). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038039 ms (missed cycles : 3).[0m ×2 + 56.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308448 ms (missed cycles : 3). + 56.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308448 ms (missed cycles : 3).[0m ×2 + 57.31sWARNros2_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 + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 59.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 59.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 59.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 59.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.45sWARNlocal_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. ×6 + 60.45sWARNlocal_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. ×6 + 60.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.53sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.56sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 60.96sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 61.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 61.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 62.07sWARNros2_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 + 62.65sWARNros2_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 ×2 + 62.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 62.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.1s | 240 warnings · 218 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3).[0m ×2 + 2.51sWARNros2_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 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788483403.99266005 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNros2_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 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788483404.57803178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.565ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801205 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801205 ms (missed cycles : 2).[0m ×2 + 7.73sWARNros2_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 + 8.30sWARNros2_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 + 8.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.522ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369007 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369007 ms (missed cycles : 3).[0m ×2 + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.837ms + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221641 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221641 ms (missed cycles : 2).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.785ms + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729948 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729948 ms (missed cycles : 2).[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.180ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.099ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910585 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910585 ms (missed cycles : 5).[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.627ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.580ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329161 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329161 ms (missed cycles : 2).[0m ×2 + 12.87sWARNros2_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 + 12.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.314ms + 13.51sWARNros2_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 + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.597ms + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479163 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479163 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.936ms + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.674ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951924 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.951924 ms (missed cycles : 5).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.733ms + 15.92sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 8.398ms + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281904 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281904 ms (missed cycles : 2).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 8.023ms + 17.12sINFOamclParticle filter update iteration stats: 2753 particles 723 points - 5.725ms + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639755 ms (missed cycles : 3). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.639755 ms (missed cycles : 3).[0m ×2 + 17.73sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 4.283ms + 18.30sWARNros2_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 ×6 + 18.34sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.944ms + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421117 ms (missed cycles : 4). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421117 ms (missed cycles : 4).[0m ×2 + 18.97sWARNros2_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 ×4 + 18.99sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 3.517ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605067 ms (missed cycles : 3). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605067 ms (missed cycles : 3).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.671ms + 20.23sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 2.937ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210779 ms (missed cycles : 5). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.210779 ms (missed cycles : 5).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 2.388ms + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.857ms + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700730 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700730 ms (missed cycles : 2).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673506 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673506 ms (missed cycles : 2).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865101 ms (missed cycles : 3). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865101 ms (missed cycles : 3).[0m ×2 + 23.88sWARNros2_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 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 24.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133106 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133106 ms (missed cycles : 2).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.111ms + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170134 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170134 ms (missed cycles : 3).[0m ×2 + 26.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879829 ms (missed cycles : 4). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879829 ms (missed cycles : 4).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958567 ms (missed cycles : 3). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958567 ms (missed cycles : 3).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 28.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.614ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.145ms + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316449 ms (missed cycles : 3). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316449 ms (missed cycles : 3).[0m ×2 + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527992 ms (missed cycles : 3). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527992 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746148 ms (missed cycles : 3). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746148 ms (missed cycles : 3).[0m ×2 + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.178ms + 32.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010802 ms (missed cycles : 4). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010802 ms (missed cycles : 4).[0m ×2 + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 33.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923743 ms (missed cycles : 2). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923743 ms (missed cycles : 2).[0m ×2 + 34.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 35.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645156 ms (missed cycles : 3). + 35.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645156 ms (missed cycles : 3).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820487 ms (missed cycles : 3). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820487 ms (missed cycles : 3).[0m ×2 + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033649 ms (missed cycles : 5). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033649 ms (missed cycles : 5).[0m ×2 + 37.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016970 ms (missed cycles : 4). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016970 ms (missed cycles : 4).[0m ×2 + 38.72sINFOobjective_server_nodePlanning for 23 path waypoints. ×3 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521650 ms (missed cycles : 4). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521650 ms (missed cycles : 4).[0m ×2 + 39.63sWARNros2_control_nodeCamera render tick took 0.65 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 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706664 ms (missed cycles : 4). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706664 ms (missed cycles : 4).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211451 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211451 ms (missed cycles : 3).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 42.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777066 ms (missed cycles : 2). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777066 ms (missed cycles : 2).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441792 ms (missed cycles : 5). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441792 ms (missed cycles : 5).[0m ×2 + 43.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.850ms + 44.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.908ms + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382271 ms (missed cycles : 2). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382271 ms (missed cycles : 2).[0m ×2 + 45.29sWARNros2_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 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127222 ms (missed cycles : 3). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127222 ms (missed cycles : 3).[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186343 ms (missed cycles : 3). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186343 ms (missed cycles : 3).[0m ×2 + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807883 ms (missed cycles : 3). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807883 ms (missed cycles : 3).[0m ×2 + 47.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 48.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930337 ms (missed cycles : 4). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930337 ms (missed cycles : 4).[0m ×2 + 49.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.064ms + 49.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735275 ms (missed cycles : 2). + 49.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735275 ms (missed cycles : 2).[0m ×2 + 49.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.103ms + 50.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 50.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803527 ms (missed cycles : 2). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803527 ms (missed cycles : 2).[0m ×2 + 51.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 51.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127585 ms (missed cycles : 3). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127585 ms (missed cycles : 3).[0m ×2 + 52.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141137 ms (missed cycles : 3). + 52.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141137 ms (missed cycles : 3).[0m ×2 + 52.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745068 ms (missed cycles : 6). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745068 ms (missed cycles : 6).[0m ×2 + 54.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677864 ms (missed cycles : 3). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677864 ms (missed cycles : 3).[0m ×2 + 55.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788483456.05817866 seconds ×3 + 55.10sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.10sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.30sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.30sWARNlocal_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. ×6 + 55.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788483456.63639069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.84sWARNros2_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 + 55.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.481ms + 56.02sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301033 ms (missed cycles : 2). + 56.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301033 ms (missed cycles : 2).[0m ×2 + 57.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357671 ms (missed cycles : 3). + 57.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357671 ms (missed cycles : 3).[0m ×2 + 58.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844509 ms (missed cycles : 3). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844509 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 178 warnings · 380 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.56sINFOmove_groupClearing octomap...[0m ×2 + 0.56sINFOmove_groupOctomap cleared.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_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 + 2.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 2.73sWARNros2_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 ×8 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 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 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426581 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426581 ms (missed cycles : 2).[0m ×2 + 7.17sWARNros2_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 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389415 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389415 ms (missed cycles : 3).[0m ×2 + 7.76sWARNros2_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 + 7.77sINFOamclParticle filter update iteration stats: 1544 particles 723 points - 2.836ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181236 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181236 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085608 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.085608 ms (missed cycles : 4).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009597 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009597 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778307 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778307 ms (missed cycles : 2).[0m ×2 + 12.28sWARNros2_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 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158213 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158213 ms (missed cycles : 3).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560737 ms (missed cycles : 3). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560737 ms (missed cycles : 3).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066095 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066095 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068741 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068741 ms (missed cycles : 2).[0m ×2 + 17.34sWARNros2_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 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402696 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402696 ms (missed cycles : 2).[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092571 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092571 ms (missed cycles : 3).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285959 ms (missed cycles : 2). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285959 ms (missed cycles : 2).[0m ×2 + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513560 ms (missed cycles : 3). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513560 ms (missed cycles : 3).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778990 ms (missed cycles : 2). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778990 ms (missed cycles : 2).[0m ×2 + 22.36sWARNros2_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 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334001 ms (missed cycles : 3). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334001 ms (missed cycles : 3).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096413 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096413 ms (missed cycles : 3).[0m ×2 + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276875 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276875 ms (missed cycles : 3).[0m ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653343 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653343 ms (missed cycles : 3).[0m ×2 + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507607 ms (missed cycles : 3). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507607 ms (missed cycles : 3).[0m ×2 + 28.08sWARNros2_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 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581953 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581953 ms (missed cycles : 3).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842126 ms (missed cycles : 2). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842126 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535749 ms (missed cycles : 3). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535749 ms (missed cycles : 3).[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976479 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976479 ms (missed cycles : 2).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037883 ms (missed cycles : 2). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037883 ms (missed cycles : 2).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261515 ms (missed cycles : 3). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261515 ms (missed cycles : 3).[0m ×2 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793411 ms (missed cycles : 2). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793411 ms (missed cycles : 2).[0m ×2 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965130 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965130 ms (missed cycles : 3).[0m ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737949 ms (missed cycles : 3). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737949 ms (missed cycles : 3).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231741 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231741 ms (missed cycles : 2).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716026 ms (missed cycles : 2). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716026 ms (missed cycles : 2).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806505 ms (missed cycles : 3). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806505 ms (missed cycles : 3).[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446144 ms (missed cycles : 3). + 41.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446144 ms (missed cycles : 3).[0m ×2 + 41.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.456ms + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507310 ms (missed cycles : 3). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507310 ms (missed cycles : 3).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2).[0m ×2 + 43.34sWARNros2_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 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3).[0m ×2 + 46.12sINFOjoint_trajectory_controllerGoal reached, success! + 46.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788483301.41098285 seconds ×3 + 46.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.69sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788483301.98628473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 47.88sINFOobjective_server_nodeFound path in 0 iterations (2.5816e-05 s). ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3).[0m ×2 + 47.90sWARNros2_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 + 47.95sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3).[0m ×2 + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.7s | 151 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302308 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302308 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734975 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734975 ms (missed cycles : 3).[0m ×2 + 1.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.43sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788483371.27659249 seconds ×3 + 2.15sWARNros2_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 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566087 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566087 ms (missed cycles : 3).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sWARNros2_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 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.98sINFOobjective_server_nodecaller: ×4 + 2.98sINFOobjective_server_nodetype: 0 ×4 + 2.98sINFOobjective_server_nodename: "" ×4 + 2.98sINFOobjective_server_nodeinstance_id: "" ×4 + 2.98sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788483372.86251712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122055 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122055 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553991 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553991 ms (missed cycles : 3).[0m ×2 + 4.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301228 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301228 ms (missed cycles : 5).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728212 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728212 ms (missed cycles : 3).[0m ×2 + 7.39sWARNros2_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 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294897 ms (missed cycles : 4). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294897 ms (missed cycles : 4).[0m ×2 + 7.98sWARNros2_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 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.912ms + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883997 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.883997 ms (missed cycles : 2).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.696ms + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.627ms + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286858 ms (missed cycles : 5). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286858 ms (missed cycles : 5).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.005ms + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.657ms + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611124 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.611124 ms (missed cycles : 3).[0m ×2 + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.965ms + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585690 ms (missed cycles : 3). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585690 ms (missed cycles : 3).[0m ×2 + 12.56sWARNros2_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 + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542095 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542095 ms (missed cycles : 3).[0m ×2 + 13.17sWARNros2_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 + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.388ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.257ms + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273185 ms (missed cycles : 4). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273185 ms (missed cycles : 4).[0m ×2 + 14.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.525ms + 15.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.477ms + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804314 ms (missed cycles : 3). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804314 ms (missed cycles : 3).[0m ×2 + 15.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 16.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.322ms + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666400 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.666400 ms (missed cycles : 3).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.065ms + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667822 ms (missed cycles : 3). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667822 ms (missed cycles : 3).[0m ×2 + 17.48sINFOamclParticle filter update iteration stats: 4869 particles 723 points - 8.874ms + 18.08sWARNros2_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 + 18.12sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 7.857ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494966 ms (missed cycles : 2). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494966 ms (missed cycles : 2).[0m ×2 + 18.74sWARNros2_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 + 18.76sINFOamclParticle filter update iteration stats: 3814 particles 723 points - 7.380ms + 19.40sINFOamclParticle filter update iteration stats: 2721 particles 723 points - 5.878ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011444 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011444 ms (missed cycles : 2).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 4.255ms + 20.60sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 3.277ms + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334792 ms (missed cycles : 3). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334792 ms (missed cycles : 3).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.377ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.128ms + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246830 ms (missed cycles : 3). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246830 ms (missed cycles : 3).[0m ×2 + 22.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856510 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856510 ms (missed cycles : 3).[0m ×2 + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 23.59sWARNros2_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 ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411299 ms (missed cycles : 5). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411299 ms (missed cycles : 5).[0m ×2 + 24.25sWARNros2_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 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811226 ms (missed cycles : 3). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811226 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.516ms + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712843 ms (missed cycles : 2). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712843 ms (missed cycles : 2).[0m ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768977 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768977 ms (missed cycles : 2).[0m ×2 + 27.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.529ms + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073341 ms (missed cycles : 5). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073341 ms (missed cycles : 5).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.436ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291656 ms (missed cycles : 2). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291656 ms (missed cycles : 2).[0m ×2 + 29.26sWARNros2_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 + 29.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 29.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285312 ms (missed cycles : 2). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285312 ms (missed cycles : 2).[0m ×2 + 30.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3).[0m ×2 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 33.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3).[0m ×2 + 34.14sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788483403.99266005 seconds ×3 + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.20sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 34.40sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.40sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3). + 34.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3).[0m ×2 + 34.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788483404.57803178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.565ms + 35.12sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.4s | 104 warnings · 241 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968104 ms (missed cycles : 2).[0m ×2 + 0.02sWARNros2_control_nodeCamera render tick took 0.64 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 + 0.04sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095167 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095167 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539141 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539141 ms (missed cycles : 3).[0m ×2 + 2.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788483596.07859111 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.81sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.81sWARNlocal_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 + 3.21sWARNlocal_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. ×6 + 3.21sWARNlocal_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. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207124 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.207124 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788483596.66678715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.287ms + 4.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873515 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873515 ms (missed cycles : 2).[0m ×2 + 5.41sWARNros2_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 + 5.43sWARNros2_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 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156457 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156457 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023486 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023486 ms (missed cycles : 3).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550092 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550092 ms (missed cycles : 3).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971876 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971876 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333001 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333001 ms (missed cycles : 2).[0m ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 10.38sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 10.74sWARNros2_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 + 10.76sWARNros2_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 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416043 ms (missed cycles : 4). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416043 ms (missed cycles : 4).[0m ×2 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 11.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 11.13sINFOobjective_server_nodeFound path in 33 iterations (0.0506885 s). ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.70sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001777 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001777 ms (missed cycles : 3).[0m ×2 + 12.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.35sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 12.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355839 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355839 ms (missed cycles : 4).[0m ×2 + 13.10sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243787 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243787 ms (missed cycles : 2).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064433 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064433 ms (missed cycles : 3).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.938ms + 15.98sWARNros2_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 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.678ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.566ms + 17.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.257ms + 19.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788483612.44410610 seconds ×3 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3).[0m ×2 + 19.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483613.05326319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.72sINFOmove_groupClearing octomap...[0m ×2 + 19.72sINFOmove_groupOctomap cleared.[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.314ms + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2).[0m ×2 + 20.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483613.86339951 seconds ×3 + 21.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.07sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483614.44146514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.23sWARNros2_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 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3).[0m ×2 + 21.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483615.04159808 seconds ×3 + 21.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 108 errors · 38 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.257ms + 1.34sINFOjoint_trajectory_controllerGoal reached, success! + 1.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788483612.44410610 seconds ×3 + 1.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.91sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.91sINFOobjective_server_nodecaller: ×4 + 1.91sINFOobjective_server_nodetype: 0 ×4 + 1.91sINFOobjective_server_nodename: "" ×4 + 1.91sINFOobjective_server_nodeinstance_id: "" ×4 + 1.91sINFOobjective_server_node ×4 + 1.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483613.05326319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.98sINFOmove_groupClearing octomap...[0m ×2 + 1.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.314ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483613.86339951 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483614.44146514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.46sWARNros2_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 + 3.49sWARNros2_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 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483615.04159808 seconds ×3 + 4.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723189 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723189 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489012 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489012 ms (missed cycles : 3).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474503 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474503 ms (missed cycles : 3).[0m ×2 + 9.04sWARNros2_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 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950446 ms (missed cycles : 5). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.950446 ms (missed cycles : 5).[0m ×2 + 10.16sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.17sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_video_auth_proxy-38process has died [pid 7821, 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 + 10.17sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.18sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge_auth_proxy-37process has died [pid 7814, 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 + 10.18sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.22sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.23sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.23sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.24sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.25sINFOvideo_server-36process has finished cleanly [pid 7813] ×2 + 10.25sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.26sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.27sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.28sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.30sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.31sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.32sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.33sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.34sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.36sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.37sINFOcontroller_managerShutdown request received.... + 10.37sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.37sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.37sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.37sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.37sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.37sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.37sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.37sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.37sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.37sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.37sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.37sINFOcontroller_managerShutting down the controller manager. + 10.37sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.38sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.39sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.40sERRORmove_group-24process has died [pid 7735, 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__lvbv803 --params-file /tmp/launch_params_zylhrsmu --params-file /tmp/launch_params_rgkjqe7_ --params-file /tmp/launch_params_pnwym0c9 --params-file /tmp/launch_params_jr21iseg --params-file /tmp/launch_params_2sxnfwrr']. ×2 + 10.40sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.41sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.42sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.43sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.44sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.45sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.46sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.46sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.46sINFOmap_serverDeactivating + 10.46sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.47sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.47sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.47sINFOcontroller_serverDeactivating + 10.47sINFOlocal_costmap.local_costmapDeactivating + 10.47sINFOvideo_server2026/09/04 01:00:21 INF shutting down gracefully ×2 + 10.47sINFOvideo_server2026/09/04 01:00:21 INF [WebRTC] closing ×2 + 10.47sINFOvideo_server2026/09/04 01:00:21 INF [RTSP] closing ×2 + 10.47sINFOvideo_server2026/09/04 01:00:21 INF waiting for running hooks ×2 + 10.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOmap_serverCleaning up + 10.47sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.47sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.47sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.47sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.47sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.47sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.47sERRORmove_groupStack trace (most recent call last) in thread 8411: ×2 + 10.47sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.47sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31aca4ea63, in __clone ×2 + 10.47sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31ac9c1aa3, in ×2 + 10.47sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31acc53db3, in ×2 + 10.47sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f31ad3b8a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.47sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f31acfe5620, in rclcpp::Rate::sleep() ×2 + 10.47sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f31acf27d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.47sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f31acee9087, in ×2 + 10.47sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31acc22390, in __cxa_throw ×2 + 10.47sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31acc0ca54, in std::terminate() ×2 + 10.47sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31acc220d9, in ×2 + 10.47sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.47sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f31acc0cff4, in ×2 + 10.47sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31ac94d8fe, in abort ×2 + 10.47sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31ac96a27d, in raise ×2 + 10.47sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f31ac9c3b2c, in pthread_kill ×2 + 10.47sERRORmove_groupAborted (Signal sent by tkill() 7735 0) ×2 + 10.47sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.47sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.47sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.48sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.48sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.48sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.48sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.48sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.48sINFOodom_qos_relay.pymain() ×2 + 10.48sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.48sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.48sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.48sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.48sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.48sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.48sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.48sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.48sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.48sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.48sINFOcontroller_serverCleaning up + 10.48sINFOlocal_costmap.local_costmapCleaning up + 10.49sERRORamclThe bond connection to the lifecycle manager has been broken + 10.53sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.53sINFOsmoother_serverDeactivating + 10.53sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.54sINFOsmoother_serverCleaning up + 10.55sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.55sINFOplanner_serverDeactivating + 10.55sINFOglobal_costmap.global_costmapDeactivating + 10.59sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.59sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.59sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.64sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.64sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.64sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.64sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.64sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.64sINFOvelocity_smootherDeactivating + 10.64sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.76sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.76sINFOwaypoint_followerDeactivating + 10.76sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.79sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.79sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.80sINFOplanner_serverCleaning up + 10.82sINFOglobal_costmap.global_costmapCleaning up + 10.83sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.83sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.86sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.87sINFObehavior_serverDeactivating + 10.87sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.87sINFObt_navigatorDeactivating + 10.87sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.88sINFObehavior_serverCleaning up + 10.88sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.88sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.88sINFOwaypoint_followerCleaning up + 10.89sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.89sINFOvelocity_smootherCleaning up + 10.89sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.99sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.99sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.99sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.99sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.01sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.01sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.01sINFObt_navigatorCleaning up + 11.19sINFObt_navigatorCompleted Cleaning up + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.19sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.19sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.19sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.19sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.29sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7812] ×2 + 11.29sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.37sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7788] ×2 + 11.38sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7787] ×2 + 11.38sINFOui_teleop_bridge-33process has finished cleanly [pid 7809] ×2 + 11.40sINFOexecute_objective_bridge-32process has finished cleanly [pid 7802] ×2 + 11.41sINFOcomponent_container_mt-31process has finished cleanly [pid 7791] ×2 + 11.41sINFOparameter_manager_node-25process has finished cleanly [pid 7785] ×2 + 11.43sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7720] ×2 + 11.43sINFOwaypoint_manager_node-26process has finished cleanly [pid 7786] ×2 + 11.43sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7719] ×2 + 11.45sINFOstatic_transform_publisher-9process has finished cleanly [pid 7634] ×2 + 11.45sINFOstatic_transform_publisher-8process has finished cleanly [pid 7633] ×2 + 11.46sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.46sINFOlidar_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 + 11.46sINFOlidar_flattener.pymain() ×2 + 11.46sINFOlidar_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 + 11.46sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.46sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.46sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.46sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.46sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.46sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.46sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.46sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.46sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.46sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.46sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.46sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.46sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.46sINFOobjective_server_node[2026-09-04 01:00:22.539] [moveit_pro_license] [critical] ×2 + 11.46sINFOobjective_server_node************************************************* ×4 + 11.46sINFOobjective_server_node* MoveIt Pro License ×2 + 11.46sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.49sINFOstatic_transform_publisher-4process has finished cleanly [pid 7629] ×2 + 11.50sINFOstatic_transform_publisher-3process has finished cleanly [pid 7628] ×2 + 11.50sERRORcomponent_container_isolated-1process has died [pid 7626, 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_tkz_88c3 --params-file /tmp/launch_params_w1qhkdw0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.52sERRORlidar_flattener.py-7process has died [pid 7632, 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_31bnkepm']. ×2 + 11.53sINFOobjective_server_node_main-29process has finished cleanly [pid 7789] ×2 + 11.54sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.54sERRORodom_qos_relay.py-5process has died [pid 7630, 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 + 11.54sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7631] ×2 + 11.86sERRORcomponent_container_isolated-2process has died [pid 7627, 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_tkz_88c3 --params-file /tmp/launch_params_41lmc8ip -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.49sINFOcomponent_container_mt-30process has finished cleanly [pid 7790] ×2 + 13.11sINFOros2_control_node-12process has finished cleanly [pid 7721] ×2 + 13.18sINFOweb_bridge-34process has finished cleanly [pid 7811] ×2 + 13.18sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 91 warnings · 155 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127585 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127585 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141137 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141137 ms (missed cycles : 3).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745068 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.745068 ms (missed cycles : 6).[0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677864 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677864 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788483456.05817866 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.35) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.54sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.54sWARNlocal_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. ×6 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.79sINFOobjective_server_nodecaller: ×4 + 3.79sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788483456.63639069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sWARNros2_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 + 4.09sWARNros2_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 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.481ms + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301033 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301033 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357671 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357671 ms (missed cycles : 3).[0m ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844509 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844509 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926552 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926552 ms (missed cycles : 3).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730585 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730585 ms (missed cycles : 3).[0m ×2 + 8.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.147ms + 9.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.280ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679752 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679752 ms (missed cycles : 2).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.233ms + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.044ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886745 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886745 ms (missed cycles : 3).[0m ×2 + 11.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.935ms + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.018ms + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299138 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299138 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.496ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483257 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483257 ms (missed cycles : 2).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.421ms + 13.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sINFOjoint_trajectory_controllerGot request to cancel goal + 14.00sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.00sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.00sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.02sERRORobjective_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: 1788483466.83035088 seconds ×3 + 14.14sWARNlocal_costmap.local_costmapSensor origin at (-0.42, 2.57) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.14sWARNlocal_costmap.local_costmapSensor origin at (-1.32, 2.59) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.043ms + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446772 ms (missed cycles : 3). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446772 ms (missed cycles : 3).[0m ×2 + 14.24sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.24sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788483467.40699220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sWARNros2_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 + 14.71sWARNros2_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 + 14.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.478ms + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564386 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564386 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193975 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193975 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262273 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262273 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 67 warnings · 142 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620837 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620837 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302308 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302308 ms (missed cycles : 4).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734975 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734975 ms (missed cycles : 3).[0m ×2 + 9.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788483371.27659249 seconds ×3 + 9.80sWARNros2_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 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566087 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566087 ms (missed cycles : 3).[0m ×2 + 10.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.62sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.65sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788483372.86251712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122055 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122055 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553991 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553991 ms (missed cycles : 3).[0m ×2 + 12.25sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301228 ms (missed cycles : 5). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301228 ms (missed cycles : 5).[0m ×2 + 13.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 71 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904052 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904052 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502006 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502006 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.413ms + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068986 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068986 ms (missed cycles : 3).[0m ×2 + 2.32sWARNros2_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 + 2.34sWARNros2_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 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.99sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.04sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788483532.11715150 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_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 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.11) 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 4.529501 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529501 ms (missed cycles : 3).[0m ×2 + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.57sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788483532.70886064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.14sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.14sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.14sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.362ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843305 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843305 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576894 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576894 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 7.59sWARNros2_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 + 7.61sWARNros2_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 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 9.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.04sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 12.92sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.93sWARNros2_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 + 12.96sWARNros2_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 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 46 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2).[0m ×2 + 0.00sWARNros2_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 ×6 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788483301.41098285 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788483301.98628473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2).[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.5816e-05 s). ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_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 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2).[0m ×2 + 6.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 7.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4).[0m ×2 + 8.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 8.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3).[0m ×2 + 9.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788483307.60641265 seconds ×3 + 9.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788483308.18229961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2).[0m ×2 + 9.76sWARNros2_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 + 9.80sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.868ms + 9.98sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2).[0m ×2 + 12.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 32 warnings · 119 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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2).[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 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.678ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.566ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.257ms + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788483612.44410610 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483613.05326319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.314ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483613.86339951 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483614.44146514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sWARNros2_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 + 5.25sWARNros2_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 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483615.04159808 seconds ×3 + 5.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.171840 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 307 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.56sINFOmove_groupClearing octomap...[0m ×2 + 0.56sINFOmove_groupOctomap cleared.[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.11sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 2.16sWARNros2_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 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_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 + 2.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 2.73sWARNros2_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 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 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 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2).[0m ×2 + 0.00sWARNros2_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788483301.41098285 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788483301.98628473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2).[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.5816e-05 s). ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_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 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896402 ms (missed cycles : 2).[0m ×2 + 0.00sWARNros2_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 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181943 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.282745 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788483301.41098285 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.35sINFOobjective_server_nodecaller: ×2 + 3.35sINFOobjective_server_nodetype: 0 ×2 + 3.35sINFOobjective_server_nodename: "" ×2 + 3.35sINFOobjective_server_nodeinstance_id: "" ×2 + 3.35sINFOobjective_server_node ×2 + 3.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788483301.98628473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135651 ms (missed cycles : 2).[0m ×2 + 3.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.5816e-05 s). ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400737 ms (missed cycles : 3).[0m ×2 + 4.56sWARNros2_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 + 4.61sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919620 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 22 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.825ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245629 ms (missed cycles : 2).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446156 ms (missed cycles : 4).[0m ×2 + 1.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.293ms + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516431 ms (missed cycles : 3).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! + 2.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788483307.60641265 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788483308.18229961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219023 ms (missed cycles : 2).[0m ×2 + 3.46sWARNros2_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 + 3.49sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 3.868ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 4.05sWARNros2_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 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045226 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013702 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.92sINFOjoint_trajectory_controllerReceived new action goal + 5.92sINFOjoint_trajectory_controllerAccepted new action goal + 5.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.92sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 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 | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168986 ms (missed cycles : 3).[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393434 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887395 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788483364.88243914 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.84sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.14sWARNlocal_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. ×6 + 3.14sWARNlocal_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. ×6 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788483365.46645880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.685040 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (4.45e-07 s). ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.409ms + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241510 ms (missed cycles : 2).[0m ×2 + 4.76sWARNros2_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 + 5.34sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054650 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 40 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3).[0m ×2 + 2.51sWARNros2_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 ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788483403.99266005 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNros2_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 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788483404.57803178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.565ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 40 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3).[0m ×2 + 2.51sWARNros2_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 ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788483403.99266005 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNros2_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 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788483404.57803178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.565ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 40 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598901 ms (missed cycles : 3).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.327ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691093 ms (missed cycles : 3).[0m ×2 + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534782 ms (missed cycles : 3).[0m ×2 + 2.51sWARNros2_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 ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.90sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788483403.99266005 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNros2_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 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.20sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708872 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.49sINFOobjective_server_nodecaller: ×2 + 3.49sINFOobjective_server_nodetype: 0 ×2 + 3.49sINFOobjective_server_nodename: "" ×2 + 3.49sINFOobjective_server_nodeinstance_id: "" ×2 + 3.49sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788483404.57803178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.565ms + 3.92sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695748 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337123 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065896 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736991 ms (missed cycles : 2).[0m ×2 + 1.19sWARNros2_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 + 1.21sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364276 ms (missed cycles : 3).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.09sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788483538.56918240 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277729 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×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 `Solution - Generate coverage path` starting at time: 1788483539.15844727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922154 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991117 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784895 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.53sWARNros2_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 + 6.55sWARNros2_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 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 119 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 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015303 ms (missed cycles : 2).[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 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.678ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590386 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.566ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794412 ms (missed cycles : 2).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.257ms + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788483612.44410610 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003411 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788483613.05326319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.74sINFOmove_groupClearing octomap...[0m ×2 + 3.74sINFOmove_groupOctomap cleared.[0m ×2 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.314ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279647 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788483613.86339951 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788483614.44146514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sWARNros2_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 + 5.25sWARNros2_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 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703525 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788483615.04159808 seconds ×3 + 5.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066399 ms (missed cycles : 3). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[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 | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[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 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 309 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 6.79sINFOjoint_trajectory_controllerReceived new action goal + 6.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.80sINFOjoint_trajectory_controllerAccepted new action goal + 6.80sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 32 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_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 + 0.85sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[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 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 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: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_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 + 5.60sINFOobjective_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 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.89sWARNros2_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 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 29 warnings · 300 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831028 ms (missed cycles : 2).[0m ×2 + 0.24sWARNros2_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 + 0.85sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 2.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[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 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_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 + 3.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 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: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_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 + 5.60sINFOobjective_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 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_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 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.89sWARNros2_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 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNros2_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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904878 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.84sINFOobjective_server_nodecaller: ×10 + 2.84sINFOobjective_server_nodetype: 0 ×10 + 2.84sINFOobjective_server_nodename: "" ×10 + 2.84sINFOobjective_server_nodeinstance_id: "" ×10 + 2.84sINFOobjective_server_node ×10 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.87sINFOmove_groupClearing octomap...[0m ×2 + 2.87sINFOmove_groupOctomap cleared.[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 4.47sWARNros2_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 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 5.04sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[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 | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070290 ms (missed cycles : 3).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760435 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.58sINFOobjective_server_nodecaller: ×10 + 1.58sINFOobjective_server_nodetype: 0 ×10 + 1.58sINFOobjective_server_nodename: "" ×10 + 1.58sINFOobjective_server_nodeinstance_id: "" ×10 + 1.58sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788483255.82465386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.62sINFOmove_groupClearing octomap...[0m ×2 + 1.62sINFOmove_groupOctomap cleared.[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788483255.83491325 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788483256.41004801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999245 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788483256.42017722 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788483256.99566984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788483257.14648509 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919545 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_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 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788483257.74972200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788483257.79985070 seconds ×3 + 3.79sWARNros2_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 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788483258.38103151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697728 ms (missed cycles : 3).[0m ×2 + 5.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782478 ms (missed cycles : 2).[0m ×2 + 5.54sINFOjoint_trajectory_controllerReceived new action goal + 5.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.54sINFOjoint_trajectory_controllerAccepted new action goal + 5.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444580 ms (missed cycles : 5).[0m ×2 | ||||